The only way to get around in Panicale is to have a car. You can take a taxi to the town, but there are no taxi services once you are there to go elsewhere. Panicale is best reached by a combination of train and a short drive. If you're flying into Rome, it is a two hour train ride to Chiusi and then you can rent a car or call a taxi from there. Or, you can rent a car in Rome, or wherever your previous destination is, and drive directly to Panicale. From Rome, the drive is approximately 2 hours. You can also fly into nearby larger cities such as Florence, or Perugia, if you're planning on doing some site seeing beforehand - they have train routes that connect with Chiusi.