Although you can pay for buggy rides in the rural areas, plan on having a car to get around. Some places and towns, such as the Rockvale Square retail outlets and the town of Intercourse, are easily navigable on foot. It is possible to tour the county by bicycle, but it shouldn't be attempted unless you're a cyclist who doesn't mind hills!
Public Transportation is provided by Red Rose Transit (http://www.redrosetransit.com/), however, do not expect it to be anything like metropolitan areas. Buses do not run often and service ends by 6PM!
Tips
Online map and direction providers are usually very accurate in Lancaster County. They may be slightly confusing at times on back roads, but directions and mileage are very precise, especially along main routes.
Lancastrian drivers are generally very polite, with notable exceptions; they will be courteous as long as you return the favor.
You may pass the buggies. If you don't, locals will immediately peg you as a tourist. Keep an eye on oncoming traffic, activate your 4-way or hazard flashers for the duration of the maneuver, and pass quickly but safely, with sufficient distance from the horses.
Yes, horses do relieve themselves on the road. If you must dodge "road apples", please be careful!