This is a long drive but absolutely worth it. Most tour agencies in Cusco offer Waqra Pukará as a full day trip. The hike itself is rolling up and down, but it is at higher altitude than Cusco, so be sure to acclimatize before you head out.

The most common trail is from Aqokunka:

Distance: 13km/8mi round trip. Trailhead altitude: 4,500m (14,764ft). Highest point: 4,600m (15,092). Lowest point: 4,140 (13,583ft).

You can take a tent and make this an overnight hike but be aware that you need to have transportation arranged for the next day. There is no reliable public transportation to any of the trails that lead to Waqra Pukará.

There are locals in the village of Sangarará that serve as taxi drivers to and from the trailhead, which is about half an hour drive from town. If you stay in Sangarará, check out the Llanquepata Inca ruins & water temple. The Expreso El Zorro bus from Cusco to Acomayo stops in Sangarará. The sign below is in Sangarará, with info for returning to Cusco.