My parents were disabled persons. It is always difficult to travel with them. They cannot walk long distance and climb many stairs. However, most of the tourist spots in Europe are on pebbles roads with lots of steps. Booking a luxury car is a possible way but most of the cars offered by hotels are covered. We can only see through the small car windows.
The vintage car ride offered by this agency is the best solution for us. A booking for 4 hours are good enough to see most spots in Prague, Old town, New town, Lesser Town, Prague Castle, Jews Area, etc.
The vintage car is a tourist spot itself, over 85 years old. A lots tourists on the streets took picture of it. Although its old, the condition is good. My dad said the engine is much more powerful than his.
The driver, Matej, speaks fluent English. His knowledge of the city as well as the narration are better than many tour guides that we have met in other occasion.
If you like to go deep into every tourist spot, stay there and take hundreds of photos, this car tour may not be your choice. But if you just want a comfortable afternoon with a glance of every famous spots, together with a nice driver/guide talking about each of them for a bit, this is the best you can find in Prague.