Tongas, electric buses and electric tempos are readily available, and the best way to get to the Taj where no cars are allowed. Auto-rickshaws and cycle-rickshaws are available every where, remember to agree on fares clearly in advance. In case you are a foreigner, please ensure that you bargain everywhere and bargain hard! Generally things are available at 40% of the initially quoted fares.
The best way to experience the city is to take a walk on the Mall Road Sadar. The street is full of handicraft and leather goods shops. You will also find plenty of food items quite unique to the city. Indian palate is generally very spicy. Please ensure that you carry antacid tablets in case you are not habitual to the spicy foods
As a guide, an auto rickshaw from Agra Cantonement station to the Taj Mahal is about Rs 80 at least in off season; and a cycle rickshaw from the Taj Mahal to Agra Fort is Rs 40.
By car
Cars are not allowed near the Taj Complex, but the rest of Agra is easily discovered by car. Rental is available from the following companies, eCabs Enterprises Car Rental and Hertz.
You can either book a taxi from hotel or directly book one outside the railway station. There is government authorized taxi stand. 950Rs/day for 12 hours. It maybe more costy to book through hotel. It is better to negotiate with the driver directly