From Cusco, you can hire a taxi or a rental car and go on your own to the national park where the hike to Humantay lake starts. You can also book a one day hiking tour from one of the many Cusco agencies.
Iquitos town
The city cannot be reached by road. The only way to get to Iquitos is by planeor boat. From Lima,
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This lake is sooooo pretty! I saw it while hiking to the Machu Picchu, on Salkantay trek. There are some day trips as well, but if you like hiking I definitely recommend going on Salkantay trek to see this lake!