To get to the village by hiking or by horseback is a 1.5 mile hike down the canyon and then a 4 or 5 mile trek over the sand and jagged rocks of a dry creek bed. The amazing blue-green waterfalls are another 2 miles or so beyond the Supai. The only way in and out of the canyon to Supai is by hiking, by horseback, or by taking a helicopter ride (which is relatively reasonably priced).
It is possible to do the the full hike from Hualapai Hilltop to the waterfalls and back in a day, but I would recommend taking at least two days if going by foot. The visitor campground is clean and appears safe and there is a primitive lodge that people can stay in. If you are short on time, you should probably arrange for at least a ride out of Supai by helicopter which is on a first come first served basis and does not run 7 days a week.
When I was there helicopter rides in and out of the canyon cost $80. Staying in the campground was $20 and staying at the lodge cost $145.
Hualupi Hilltop is accessible by car.Directions to Supai: To get to Supai, you go East on I40 from California. Take the Seligman exit (also called old Route 66) North toward Peach Springs. This is your last chance for gas. 37 miles from the Seligman exit is Indian Road 18 turning only to the right. Drive on the paved road for 64 miles until you come to the edge of the canyon. There is a large parking lot for about 200 cars. Park and follow the trail down>. If you are coming from Kingman on Route 66, the Indian Road 18 is 6 miles from Peach Spring to your left. There is a small sign saying "Frazier Well and Supai." To schedule a helicopter ride in Action Helicopter at 520-282-7884 and ask for their schedule