how to get around the Sacred Valley
 

On a sunday I want both my mom and I to hike from Cusco to Sacsayuhuaman and explore those the other Inca sites around there (Tambo Machay, Qenko, Puca Pucaea) then visit Pisac and Chinchero. However, I'm confused on how we are supposed to travel from one place to another. do we hire a car the day before to take us where we would like to go? where would we hire one? is it a better idea to go to Chinchero or Pisac first? if anyone could answer these questions that would be amazing thanks!

You can definitely hike up to Sacsayuhuaman from Cusco. It is up a nice hill, though. Tambomachay, Q'enko and Pukapukara are continuing up the hill. I would recommend hiring a taxi to take you to Tambomachay, then hiking down the road to the other sites. Pukapukara is right across the road from Tambomachay.

Did you want to do Chinchero and Pisac in the same day?

Try to be in Pisac around 10:30 to 11 to carch the Mayors (alcaldes) arriving at the church on the west side of town.

Yes! I want to go to both Pisac and Chinchero. I am not sure If it would be worth it to hire a driver to drive us from Cusco to Pisac to Chinchero and back or rely on taxis every time?

I think you would want to hire a taxi to do the circuit and pay them waiting time. Chinchero didn't have an abundance of taxis (in fact, we didn't see many at all).

To do all of that in one day I think I would hire a taxi for the circuit, it is a very full day maybe too full!

Yes, you would need to hire a taxi to do the cusco city tour, pisac market/ruins and Chinchero market and go visit the weaving demonstration there. It will be a full day. There are recommended drivers on this forum or you can have your hotel hire one.