The roads in town are quite walkable, and traffic is light. Most everything is within a 5 minute walk from downtown. There is really no reason to drive. The town is foot-scaled so walking is your best bet for getting about and really experiencing the town.
One can also rent a car locally. There are a few car rental agencies in town.
Flames has the best reputation, and the best prices. Flames Auto Rental
Matus Car Rental is also an option Matus Car Rental