Train service is only available between Simon's Town and Cape Town and won`t bring you to the the Cape of Good Hope, so the best option is a car. Another option is one of the tours offered everywhere in Cape Town.
Take the roads from Cape Town southward, passing Simon's Town and the Boulders to go to the Cape of Good Hope. You will always be on the peninsula, when you are south from Table Mountain.
Please note that you can't pay for petrol or diesel with a credit card, only with cash or a South African bank issued 'Garage' card.
Hout Bay is a little, scenic harbour.
Dive the waters of Cape Town on the Atlantic or False Bay coastline of the Peninsula
Chapman's Peak Drive
Drive the scenic drives along the east and west coast of the Peninsula. Chapman's Peak Drive is one of the most spectacular coastal roads in the world. It begins in Hout Bay on the west coast of the peninsula and ends 9 km later in Noordhoek. The road was closed in 1999 after a series of rockfalls damaged cars and was reopened in September 2004 as a toll road.