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My DH and I are going to Chicago for a Bulls game next month and wondering if it's worth getting a car? We are staying at the Millennium Knickerbocker, which seems to be pretty close to everything we'd want to see...aquarium, lookout tower, Navy Pier, Michigan Lake.... I just don't know how "available" taxi's are once we get to these places.
Are we going to get stuck after the Bulls game or will there be tons of taxi's ready to help?
Are they outside the aquarium waiting for us when we're ready to go back to the hotel?
Neither of us have really done any public transportation, it's just not available at home. We don't want to get stuck 
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Re: Getting around Chicago?
Last time we were in Chicago, we walked or used public transportation (no taxis).
Public transportation is really easy to use in Chicago. There is a free app available http://www.transitchicago.com/apps/
I don't know how available taxis are after a game, but we saw plenty of taxis around. You can always call a taxi to pick you up after the aquarium or whatever.
After Bulls game is usually chaos in the street. There will be cabs outside on Madison, but your best bet to actually move and not sit in traffic is to come out of the United Center on Madison street and walk east towards Ashland (and the lake). You'll be able to catch a cab, but it may take a while.
As far as other sites around the city, cabs are pretty accessible. You may want to program a cab number in your phone, just in case. I prefer Flash Cab: 773.561.4444
Public transit is pretty easy and pp provided a good link. You can also just go on google maps and get directions and click the train icon and it will tell you CTA/public transit routes. For your hotel, you're close to the Chicago Red-Line (well, few blocks walking) and also the Michigan Ave buses. (You could take the 146 bus pretty much straight to Shedd Aquarium). For buses you need to have exact cash if you don't have a transit card (you can buy these at train stations or 1, 3 day, etc, passes at places like CVS.
Also, you're not far at all from Tavern on Rush; we love their brunch!
Blog Sale
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I would definitely not rent a car. Parking is ridiculously expensive and if you aren't used to it, city traffic is a nightmare (it can still be a nightmare of a different kind even if you are used to it).
I'm not sure where your hotel is, I never heard of it, but taxis are readily available most places within in the city-especially the places you listed. Yes, there's usually a line of taxis by Shedd, worse comes to worse, you can walk a block or two towards Michigan and flag one down. Same with all the places along Michigan Ave. But a lot of Chicago is easily walkable. Just an FYI, simply sitting in the cab will automatically cost you approx $3.50 (flag/sit fee, gas surcharge, extra person, etc). As for the United Center, you can either take a bus or a cab but my preference is to pre-game at a bar that has a shuttle. There's tons of them--West End, Market, Beer Bistro, etc. You can pick up the shuttle after the game and go back to the bar to wait out the crowds before getting a cab.Blog Sale
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You might want to try the directions feature on google maps too. You can click on the public transportation option and it will tell you how to get places by bus and/or el.
Blog Sale
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