Aschaffenburg has a very central station which is well served by regional trains running between Frankfurt (40 minutes) and Wurzburg (1 hour). Being so close to Frankfurt it is part of that city's regional metro system (RMV), despite being in Bavaria, and so you can buy tickets from that system or Die Bahn, depending on which is cheaper or suits your needs better.
You can easily and comfortably reach Aschaffenburg by trains from Frankfurt. Timetables can be found here.
Aschaffenburg is situated on Autobahn A 3 (Cologne - Passau) - Just take the exit "Aschaffenburg Zentrum"
Note: Parking is quite expensive in the centre - you better use the park and ride offer
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