We did the Karlstejn Castle on-day tour with Ave Bicycle from Prague. Our guide Kate was a delight: informed, enthousiastic, professional. While you do have to hike quite a ways from the town up to the castle, the ride to the town is beautiful and mostly on bike paths along the rivers. It took us 3 hours for the ride and that included a stop for pastries along the way. This company also offers multi-day trips in Czech Republic as well as bicycle rentals with suggested routes for self-guided trips. We were impressed.
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