There is no public transportation on the island so you will have to rely on a taxi or you can rent a jeep.
We chose to rent a jeep. The taxi driver dropped us off in Spanish Town and we went to Speedy's to rent a jeep for the day.
There is only one main road on the island so no problem finding our way around.
This ferry starts every day at Trellis Bay on Beef Island, then zooms over to the main Valley dock in Spanish Town, then Leverick Bay Resort & Marina, and lastly the Bitter End Yacht Club (which cannot be reached by road). It is fast - and I do mean fast! Don't stand up while it's up & running (strictly forbidden), and forget about taking pictures enroute, wait till it slows down near the destination. cost for me one way from Trellis Bay to the Valley was $17; you save a dollar or two if you buy a round trip ticket.
It's a great way to get around to various spots if you don't wish to drive up & over the mountain to see Leverick Bay, or if you want to make a day trip to the artists' colony at Trellis Bay.
When I arrived I asked about renting motor scooters instead of a 4WD, and was immediately met with gasps and looks of horror. Kinda got the impression scooters aren't considered the safest mode of transportation here, even though it's not a super busy & high traffic island like St. Thomas.
So I bit the bullet & rented a small 4WD, and boy was I glad I did. First of all, SMALL is good here, some corners are so tight and driveways even tighter, you don't want to charge around in a big honkin' monster mobile like the guys in Alaska all drive. It simply won't fit. Secondly, gasoline is at a premium on islands, so it's always better to go small. As for the 4WD thing, most all rentals are 4WD, the roads are so steep.
IMPORTANT: The speed limit on the entire island is 20 MPH. The locals go faster, but you really shouldn't. There usually are no shoulders, or very meagre ones, and lots of people walking everywhere. Be extra careful of pedestrians at night!
ALSO for Americans & Canadians, you'll have to get used to driving on the left; for UK & European drivers, the setups are American, so even though you may be used to driving on the left, you'll have to sit on the left too.
Here's what NOT to do:
I took an American Airlines flight from Florida to San Juan, Puerto Rico. Then I had to catch an American Eagle flight to Beef Island, BVI. Then I had to get a ferry from Trellis Bay on Beef Island to Spanish Town on Virgin Gorda, and a cab from there to FIscher's Cove Hotel.
All this after spending the previous day flying Anchorage-Seattle-Orlando.
DON'T DO WHAT I DID, BE SMART - FLY IN TO VIRGIN GORDA, from either San Juan or St. Thomas. There are a couple of small airlines that fly directly to VG, including Air Sunshine. The link below gives a few hints.
Another better option would've been to fly to St. Thomas and take the fast ferry to VG.
Since Virgin Gorda is an island, you either have to come by air or by sea. Most people come on the ferry. But there is another option if you are a sailor. You can come on a sailboat. Either your own, or one that you charter. We came on a crewed charter.
The first time we came, the charter captain went into the marina there overnight so we could get to the Baths early the next day. The next time, we just went to look at the shipyard (where the first boat we chartered was up in the yard) and ate lunch at the marina and didn't go to the Baths.
If you know a little bit about sailing, there are several charter boat companies which will rent you a boat. The URL below is just one of them.
We took Speedy's Ferry from Road Town, Tortola to Virgin Gorda. It was $25/person roundtrip and took about 25 minutes each way. The ferry runs several times each day, so you can easily plan a trip here.
We really didn't want to rent a car when we got here, but it was the most sensible thing to do. Everyone told us that it was about a 2 mile walk from the ferry dock to The Baths. That wasn't too bad, but our dilemma was where to put all of our stuff (cameras, snorkel gear, wallet, etc.). We could have taken a taxi, but we still would have had the same issue with what to do with our things once we got to the beach.
There are ferrys that leave from Tortola going to Virgin Gorda.
Ours had a top deck with bench seats so that is where we rode.
We arrived at the pier in Virgin Gorda where a taxi was waiting.