If you are staying in Osaka, and like to have a 1-day visit to Kyoto, consider taking a tour from Osaka. There are several tours available from Osaka to Kyoto. Some tours cover Nara and/or Kobe in addition to Kyoto while other tours spend more time in Kyoto.
Kyoto private tours from Osaka
If you are a group, then consider taking a private tour to Kyoto. You can avoid wasting time to wait for other people who delay everytime.
Kyoto group tours from Osaka
If you are travelling alone or like to save money, then choose a group bus tour. Prices are usually less than 10,000 yen per person for a tour.
Kyoto customized tours
If you like to customize your itinerary in Kyoto, then choose a flexible customizable tour by private cars.