Overland travel between Livingston to Lasaka

Buses run pretty much all day every day and I found thme perfectly reliable. The morning departures are best and then you'll be in Lusaka by mid-afternoon. It's about a 6 hour drive including a couple of very brief stops.

Try to book the bus the evening before if possible, then you should have no problem getting the departure time and bus class you want. Just go to the bus terminal on the main street in Livingstone.

There is also a train, but not daily.

Don't walk if on a tight schedule

Theres loads of busses between Livingstone and Lusaka, CR holdings busses are comfortabe and reliable leaving every hour or so, although there are lots of companies to choose from.