The best way to go would be by taxi and would cost between £10 and £12. Depending on how many of you are travelling then the the cheapest would be the tube, as decribed by Hickney, above at £2 each. When you get to Holland park tube station, you would have about a 5 minute walk to the hotel.
If you go to www.streetmap.co.uk and type W11 4UL (the post code for the Hilton) into the search box and click on search you will be able to see a map of the area showing the tube station and the hotel.
You have a couple of choices and they will depend on the amount of luggage you have and your stamina.
You can take the Bakerloo line from Waterloo to Oxford Circus then the Central line to Holland pk and continue as above.
You can take a taxi from Waterloo to the hotel, this might be a little expensive( I have no idea how much) but would be the easier option if you have much luggage or dont' want to walk to the hotel.
We we have only one suitcase. We have done it before... walk for 10 min should be ok. THanks for all your advices.
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