We are uncomfortable changing trains and are wondering if there is an alternative transportation method to get to Rothenberg from Nurenberg? Bus? Any helpful websites?

I don't think there's bus-only service, but there's not much to worry about with the trains. If you have ambulatory issues, Rothenburg itself, with its dozens of lovely streets, is likely to be much more problematic than changing trains.

Some train connections require a change in both Neustadt and Steinach.
But you can find connections that involve only one change of train in Steinach, a tiny little station that will require very little walking on your part. The train to Rothenburg will wait for the train from Nuremberg if it's a little late.

If you're there and you're confused about which track to get on or whatever, just ask anyone you see. The Steinach station probably has the highest percentage of foreign visitors in the country, as all who use the trains to get to R'burg must change there. Either they will know, or the German locals will - they often speak excellent English and are accustomed to such questions.

There is nothing uncomfortable in changing trains in Steinach - it is a tiny station whose entire reason for existence is connecting the branch line to Rothenburg and the mainline. Since the train connection to Nuremberg is quite good there is no other public transportation (except taxi or rental car). Both will be far more expensive.

I went with 3 kids, ages 17,14, and 11 by myself (first time to ever fly to Europe) and we had no trouble making our way by train to Rothenberg. The train system is very easy and quick to learn. Please don't let this keep you from going to this wonderuf town. In fact most of our trip was not planned and we let the train system dictate our travels. The platforms are very easy. My son even had time to help a older German lady move her bag to the next platform..all talking was done with pointing and smiles! Have fun out there.

I've been told that you have to go down and then up a flight of steps in Steinach to access the train to Rothenburg.

"I've been told that you have to go down and then up a flight of steps in Steinach to access the train to Rothenburg."

This is true almost everywhere in European stations if your connecting train doesn't leave from the same platform - they don't want you bumbling across the rails for safety reasons. Large stations often have elevators for changing platforms, but small ones like Steinach, you're on your own, which may spell trouble for the frail or the disabled.

If redbird and/or companion are too infirmed to manage such steps with their luggage, it's going to be tough getting around Europe generally, in which case they should perhaps seek out a tour operator that specializes in the accommodation of the disabled, or they can schedule porter/taxi service whenever they move their luggage from place to place. But if they pack wisely and can handle a staircase or two in succession, changing trains isn't inherently problematic.