If you have a few days in Andorra, then you can easily visit most of the main villages by the local bus service called the Cooperativa Interurbana Andorrana, S.A.
There are 8 main bus lines or 'linies', and all of these pass through Andorra La Vella. The fare is anything from 1€20 to two or three euros depending on how far you are going. Drivers will provide change. For the towns nearest to Andorra La Vella, the service is very regular, and as frequent as every 10 minutes during the day. If you are travelling to outlying rural places like Canolic, there are only 2 or 3 buses per day.
The lines are:
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