I think the best traveling way in Tokyo is taking trains and walk from the nearest stations. Some say Tokyo train system is complicated but still the train routes are well organized, so soon you would be accustomed to it.

But if you are familiar to Tokyo streets already, driving in Tokyo would be a wonderful trip too.  In the rush hour like morning or evening time, I can’t recommend you use a car because of the heavy traffic.  If you can avoid that, morning time,daytime, and nighttime drive are fun.

Driving through the tall buildings and neon light of Tokyo in the night is a real excitement.

As it’s known, cars must drive on the left lane in Japan unlike the USA.  If you always run on the right lane in your country, it would be a great risk to experience driving in Tokyo for the first time.  Maybe you should make yourself feel OK on the left lane before the Tokyo drive.  It’s also good to experience in country side drive first.

Tokyo streets are actually complicated for the Japanese drivers too.  At the first or second time trials, navigator in your next seat is needed for safe drive as far as the navigator can really read the map of  Tokyo.

Tokyo express highway charge you when entering the highway network.   Entrances and exits are located many places in Tokyo but they are not always on visually clear roads. These must be confirmed before starting your drive.

If you are really worried,  maybe the best way is try in the early morning like 5 to 6am, then streets are not busy.