Getting around Estes Park has become easier in recent years. The town itself is small and can be covered reasonably well by walking. Most tourist visitors have their own car. You can park in one of the city lots free and walk a couple of blocks to get downtown.
Estes Park has implemented a free shuttle bus system (http://estesparkcvb.com/e...) that begins at the Visitor Center and has stops in Rocky Mountain National Park as well as a variety of stops within town.
There is some provision for bicycles. Paved trails radiate out from Lake Estes toward the south and west. But the part of the trail that goes downtown is restricted to walking only. Cycling on the main roads is OK, but shoulders can be sparse. Be careful of "tourist drivers" who will perform strange unpredictable maneuvers.
There is a local taxi-cab company (http://www.peaktopeaktaxi.com/), but do not depend on this as your only transportation option to get around the town as it is inconsistent at best.
Transport within the National Park is mostly by private vehicle but shuttle bus service between the Moraine Park / Bear Lake areas has become more popular in recent years. Shuttle bus service between the Estes Park Visitors Center and Rocky Mountain National Park started in 2006. While the shuttle bus is free, you will need to purchase a National Parks pass prior to entering Rocky Mountain National Park. According to the Visitor's Center staff, there is an automated machine available at the Visitor's Center from which you can purchase 7-day or annual passes.
Hitchhiking can sometimes be effective particularly if you look like you are making an effort and have good personal hygiene. Speaking of hygiene, the laundromat in upper Stanley village also sells showers.
