Hello...Yes, you can take a taxi to the Old City. You can easily walk everywhere as the Topkapi Palace and the Grand Bazaar are really very close. Just take a good map and you'll have no problem. If you look at your map, you'll see a bridge from the Old City to the newer part...the ship is right across that bridge...about five to ten minutes by taxi depending on traffic. Istanbul is very clean and beautiful; the people are friendly and many of them speak English if that's important to you. Enjoy!
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