Walking (incl. city maps), Venice
Venice is best explored on foot. If you didn't get lost in one of its little alleys, than you didn't visit Venice! :-) Distances are rather small. And what's even more, if you visit the less touristic areas (like Castello) you actually have the feeling of having Venice all for yourself!
And if you get lost, don't worry, there are enough signs for San Marco or Rialto to get you back on track.
Best way by far to see Venice is to find yourself a map and walk - St Mark's to the Rialto Bridge is at most a 30 minute walk and you get to know the place so much better on foot - immerse yourself in the city and have fun getting lost - it isn't a huge place so you'll always be able to find your wa back, plus if you do get too lost you can always ask one of the lovely locals!
The best way to see Venice is on foot. In this way you can explore even its most hidden places and get to know the city better.