You can get to the top by walking, taking the funicular (covered by the public transport tickets) or by bus to the amazing massive semi-derelict stadium (which once had 9 soccer pitches inside and was used for mass gymnastics displays) on the top of the hill.
We took the bus up and rode the funicular down and then up again to fully experience the views. There is an intermediate stop on the funicular which gets you to a restaurant which also has good views. The top station of the funicular has an interesting little exhibition showing its history (it started out as water powered, and was converted to electricity later; recently reopened after landslips closed it for some years)
But at the top of the hill, inside the park, is the little gem of the miniature Eiffel Tower, built after some Prague gents saw the French one and decided to build theirs as part of their great exhibition. You again have choices, walk up 299 steps or take the cramped lift. We took the lift and were rewarded with stunning views in all directions. Fortunately, being winter, we weren't obstructed by any foliage anywhere, but the downside was a certain drabness in the gardens below us, which must look beautiful in Spring and Summer.
It's a pleasant walk down to the diplomatic district, from where you can access the castle or walk back into Prague over the Charles Bridge.
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