Perhaps the most relaxing way to travel to Greenwich is on the river - it's a regal way as you'll be taking the very same route as did Queen Elizabeth I in her day (albeit she was in a rowing boat).
Thames Clipper runs a frequent and reliable service, leaving every 20 minutes, and calling in at all or most piers along the way, providing plenty of opportunity to hop on.
Departure points, going east from the centre of town are Waterloo Pier, Embankment Pier, Blackfriars Pier, Bankside Pier, London Bridge Pier,Tower Pier, Canary Wharf Pier, Greenland Pier and Masthouse Terrace Pier.
If you're travelling on to the O2, stay on until the QEII pier (or get the express direct service if you're heading to a concert). The Clippers are all wheelchair and pram accessible at boarding points, in the interior and in the toilet facilities (yes, they have loos!).
