By bus
The Morogoro bus stand is called Msamvu and is a 10 minute dala-dala ride from downtown. From Msamvu, you can get buses to almost anywhere in Tanzania. Multiple bus lines go to and from the Ubungo bus stand in Dar. Hood and Abood are popular lines, cost TSh 6,000 as of August 2008, and leave about every half hour. Other lines, such as Saddiq, run less frequently but may cost less. From town, to get to Msamvu, take the "Kihonda" daladala from the central daladala stand; or just tell them at the dala stand that you're going to the bus stand, they'll sort you out.
The hoteli/restaurant next to the bus stand, "Makuti", is not bad, and is a nice place to escape the hustlers, avoid the rain, have a refreshing beverage, etc.
By plane
There is a grass airstrip in the Kihonda area, but there is no scheduled flight service to Morogoro.
By train
The train station is close to the town center, with service to/from points west. For travel to/from Dar es Salaam, bus service is much more convenient.
By car
The roads from Morogoro to Dar es Salaam, Iringa, and Dodoma are paved and generally in good condition, making Morogoro easy to get to by car. The travel time between city boundaries is fairly short about 2-2.5 hours but depending on where and at what time you depart in Dar es Salaam it can take you more than one hour to get out of Dar in the first place. If you can, avoid driving out of Dar in the late afternoon from 4pm or into Dar in the early morning up to 9am as you will otherwise drive along with commuter traffic which in a city like Dar can be complete mayhem.