From the main plaza in Chivay, you can take a bus to get to Canyon Del Colca for a 2 hours ride. From Arequipa its approximately 4 hours drive. You can also book a tour in the city that include transportation.

Humantay Lake
From Cusco, you can hire a taxi or a rental car and go on your own to the national park
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One of my highlights in Peru!!! Instead of taking a trip there with an agency, we did it by ourselves and it was soooooo worth it. We did 3 days 2 nights and slept in a hostel with hot spring (I don’t remember the name but it was amazing!!!) and the second night in the Oasis!