Any suggestions on how to travel from MUC or FRA Airport to PRG? Trains seem very expensive and we have never rented a car in Europe before. We only have 3 days in PRG so time is precious. If we drive, are there any don't miss sights along the way?
if you really want to save time then you should fly. i took the bus from prague to munich and it's about a day ride. a little cheaper than train, and takes about the same time probably. also note the bus final stop is in munich, not at the airport. so you have a train ride from airport to bus terminal if you can't find a bus leaving the airport to Prague (very likely)
I took the Prague-Nuremburg Express bus. It was faster and a bit cheaper than taking a train. I was wanting to go from Prague to Rothenburg, so the express bus was my best option. SO maybe you could go from the airport to Nuremburg and then take the express bus to Prague.
You can buy a Bayern/Bavarian ticket for 28 euros for 2 or more people traveling together from Munich to Prague. It is a 6 hour train ride.
Scroll down to Bayern/Bavaria.