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Renting a car and driving yourself is an excellent way to get to Lake Titicaca. Take the El Alto Highway northwest from La Paz. The road is paved between La Paz, Huatajata, the strait at Tiquina, and Copacabana, and barring heavy traffic, takes less than four hours. If it's your own vehicle, get it blessed at the church while you are there.
Minibuses run regularly from the gates of El Viejo Cementerio in La Paz to destinations along Lake Titicaca, including Batallas, Huatajata, and Tiquina. One-way tickets are about $1. Private bus companies that collect passengers at their hotel charge roughly $10 round-trip to Copacabana (four hours) and $15 to Sorata (six hours). Companies are at the bus terminal in La Paz.