We want to visit Dublin, Killarney, Galway and Belfast and surrounding sights before heading off to Edinburgh, Scotland. We could fly to Dublin or Shannon to begin tour and will end in Belfast to fly to Scotland. We want to use the trains and bus systems but would be willing to hire drivers for short distances. Suggestions for itinerary and best way to proceed. B & B's are fine for us to stay but would hotels be best in Dublin and Belfast? We are active 70 year olds but would like to spend 3 nights at each place.
I can't help with what to see in Ireland. We have used bus and train systems during our trips to Scotland and Europe. Get yourself a guidebook or two. I like Rough Guide Scotland so the same might apply to Ireland. Lonely Planet Guides are good too. We have taken the train back and forth from Glasgow to Edinburgh half a dozen times.
I think you can do this yourselves with guidebooks. We are older than you and if we can do it so can you. We have always used hotels with the exception of several times on Islay when we stayed in B & Bs. Others will be able to help you with specifics.
Train system in Ireland is not that extensive and not necessarily the most direct way to travel. Bus Eireann can fill in the gaps. You'll want to base your lodgings at each of these stops and then either join up with day tour operators or hire a private driver depending what you want to see in the surrounding areas.
Although Ireland is not that large, it can take awhile to get from place to place, particularly when using public transit..
While you can find some B&B's or guesthouses in some of the outer neighborhoods of a big city like Dublin or Belfast, if you want to stay very centrally located, you'll likely end up with a hotel. Depending when you travel, some universities offer tourist accommodation during the summer season at budget rates (i.e., Trinity College in Dublin and Queens University in Belfast - FYI: I've stayed at both and while not plush, they were comfortable, quiet, included breakfast and centrally located to tourist sites and local transportation).
If it was my trip, I'd fly into Shannon to start if you know for sure you need to end your time in Belfast to catch your flight to Scotland.
You can get some itinerary ideas at http://www.ricksteves.com/europe/ireland/itinerary and http://www.ricksteves.com/europe/ireland, which are then fleshed out in Rick Steves' Ireland book.
Your order should be: Shannon, then Killarney, then Galway, then Dublin then Belfast. Public transportation will work best for you this way.
I agree with Terri's order for your itinerary. Shannon (airport) to Killarney by bus with change at Limerick (about 4 hrs); Killarney to Galway by bus with change at Limerick (about 5 hrs); Galway to Dublin by train (about 2-1/2hrs); Dublin to Belfast by train (about 2 hrs).
Agree that it should be easy to find transportation/guided tours to visit sights in each area. I'm not much of a b&b person but I have stayed in hotels in all 4 cities. Without knowing when you are going and what your budget for accommodations is, it's hard to suggest specific hotels or b&b's. Without a car you want to stay as close to the center of town as possible.