Of the twelve border posts serving traffic from South Africa, the main ones are Ngwenya/Oshoek (7am-10pm), which is closest to Johannesburg and is the easiest route to Mbabane; Jeppe's Reef/Matsamo in the northwest (7am-8pm), which is handy if you're coming in from Kruger Park; Mananga in the northeast (8am-6pm); Lavumisa/Golela in the southeast (7am-10pm), close to the KwaZulu-Natal coast; and Mahamba in the southwest (7am-10pm), off the N2 from Piet Retief in the KwaZulu-Natal interior. The northern crossing via Bulembu (8am-4pm) to Piggs Peak is perhaps the most spectacular in the country, but the bad road makes this journey hard going in an ordinary car. Crossing the border is usually very straightforward: you simply have to show your passport and pay the token E5 (R5) road tax .

Transtate buses from Johannesburg enter Swaziland through the Ngwenya/Oshoek border, stopping at Ermelo en route to Mbabane; and through Mahamba, stopping at Nhlangano and Hlathikulu. The Baz Bus runs eastbound from Jo'burg to Durban via Mbabane and then Manzini on Monday, Wednesday, Saturday, departing for Durban the next morning; westbound, from Durban, it arrives on Tuesday, Friday and Sunday and sets off for Jo'burg the next morning.

Swaziland has one international airport , Matsapha (often referred to as "Manzini"), between Mbabane and Manzini. Airlink Swaziland (a partner of SAA) flies three times daily to and from Johannesburg. Swazi Express Airways flies in from Durban daily except Saturday.