Downtown/Historic Prague is compact and amazingly walkable. Our stay, awards - the only reason for selecting a "US style" hotel, at the Marriott put us on the edge of downtown, but only a block from the action. Easy walking from there included the Charles Bridge and the historic downtown sites. Stick to the "local" restaurants (except for a turistic sort of early 20th C Central European place in the cellar of the Opera House which is pretty good, has modest tariffs and the world's best cucumber salad), where the menus, a bit "stodgy" are palatable and filling. The beer, standard brands on draught everywhere, is so good as to defy description, either by itself asa restorative, or in company with food.
The streetcar system "envelopes" the downtown, and a day ticket isa great buy, allowing a scenic ride up to the castle and all thereabouts, plus a way home when your legs give out.
I know of no more walkable city than Prague, but would not be comfortable attempting to drive in the downtown area. Scenery? Some of the world's most attractive women on foot. The local style for the young includes spike heels and jeans which could apparently only be donned while prone - tight! Combined with bottoms improved by lots of walking, the sight of same was continually causing my wife to slap be back to awareness. Flowing Titian hair is also popular. A couple of streets - upon which 'clubs" fill many storefronts seem to feature a number of women whose status, amateur, semi-pro or playing full time in the Majors, is in question, but it's all handled in subtle good taste.
Every morning, I rose early, walked a block to a nearby square/trolley stop, sat down to a coffee in a sidewalk cafe, and took in the view of hundreds of young women on their way to work, an invigorating sight, as stimulating as caffeine.
Conversation with younger Czechs is pretty easy, even for us Non-Czechalogues (mine extends little farther than "Pivo", "Svoboda" and my phonetic version of "Yak-se-Mosh"). Concurrent with the fall of the USSR, the schools in which all had studied Russian since the 40s immediately took up English as the required second language.
....Unknown Czech city both enjoyable and worth a visit (as long as you get away from the train station, a concrete bunker-modern structure in a grim Stalinesque neighborhood) - Olomouc in old Moravia. Old Vauban era and earlier ramparts, medieval/renaissance quarter, old university, modest prices, friendly folk in town and in the nearby rural area which we visited in search of the origin of my wife's mother's family. Evidence of their passing: a combination beer joint/general store bearing the family name in a tiny hamlet. Apparently, all my bride's ancestors had fled to Prague (one to become a nationally famed author) or to the US (to keep on farming). The new owners and locals did, however, welcome us warmly and with plenty of beer (and a sampling of cured local pork products at which they display skills equal to those who crossed the sea to the New World and make sausage in the rural Czech enclaves of Texas).