Lusaka International Airport There's no public transport into town, so taxis are your only choice here; expect to pay around ZMW200. Otherwise pre-arrange a pickup through your hotel booking.
Livingstone Airport Taxi is the only way to get from here to town and beyond. It's around ZMW50 to Livingstone itself, or ZMW80 for further afield to the waterfront hotels. A hotel transfer will set you back US$20 or more.
Border Crossings At the border crossings there will be minibuses or shared taxis awaiting, though you're likely to have to wait till they fill up with passengers. Otherwise you can take a taxi to your next stop.