When going to the architectural wonderland Odaiba you will either take a ferry or take the Monorail Yurikamome that runs over the bridge (assuming you have a car, you could also take the highway that runs over it).
Best viewed from the decks in front of Aqua City/Joypolis at Daiba; although Rainbow Bridge is nice during daylight, too, the best time to see it is definitely at night. Make sure you have a long exposure time when taking a picture for catching every single light of it.


