The area is designed for walking. It is generally flat, car-free in most parts, with footways connecting to the Casino and to the Powerhouse Museum. There are directional signs to the major sights scattered around and maps available at the tourist information.
There is a little motorised train that does a loop around precinct, useful for tired little or big legs. At $4.50 for adults and $3.50 for children one-way, this makes it one of the most expensive one-way trips for children anywhere in Sydney, so it's best to think of it as a ride rather than a form of transport. It does go all the way from the far side of Tumbalong Park to the Aquarium, so it can save some walking, but is slow and won't save much time compared to walking, if any.
If you are right at the southern end of Darling Harbour by the Entertainment Centre or the Powerhouse Museum, then it might be worthwhile getting the light rail if you are going right to the Northern end at the casino.
Around the water's edge and the surrounding parkland, the terrain is flat and accessible to wheelchairs and prams. There are lifts to access Harbourside, King St Wharf, and Cockle Bay Wharf. Darling Harbour is a newer area and accessibility has been considered in its design.
There are lots of fountains at the southern end of Darling Harbour, and you will have to walk around them. If you notice people taking an apparently long route, and can see a quicker way to cut across Tumbalong Park, you will find that you have to join the main pathway to go around the fountains. If time is of the essence, then following signs and people who look like they know where the are going, will usually be quicker than meandering around the landscaping.