Pick up a free map of Johannesburg at the airport or from the Johannesburg Tourism Company (JTC). (See Resources) It's easy for travelers to get lost in Johannesburg, and foreign maps aren't as likely to be up to date on current changes.
Compare deals from car rental agencies. Having a car allows you to see the city at your pace, an added bonus for most travelers is the road signs are in English. Major car rental agencies are available and offer a range of prices and models for adventure trips or just sight seeing.
Consider minibus taxis for short trips around Johannesburg. These small buses are cheap, take small groups of people and allow you to mingle with the locals. A downside is that these informal buses are unable to drop you off at your exact location and lack bus stops or scheduled times.
Take advantage of the Metrobus service for daytime travel. Timetables and bus routes are available at the main bus terminal. A tag system can be used instead of cash to purchase multiple trips and CitySlicker tours are available to see the best attractions.
Obtain help from your hotel concierge service. Metered taxis are available, but expect to pay more than other methods of travel. Unlike in other major cities, metered taxis aren't on the street you have to call for service. The hotel arranges this service or use the Internet to print a list of agencies before your trip.