Access to Vezelay is by well-maintained secondary roads. If you are driving, make sure to get a good map. Michelin puts out an excellent road atlas that will serve you well.
The easiest way to get in is by car. You will take a secondary route up the hill.
Once you have parked your car, you will get around on foot.
The fabulous Gothic cathedral, which also has Romanesque elements. As Vezelay is a small town and the Cathedral is in the center, you really can't miss it.