There are direct daily flights to Madrid and trains with daily connections to cities in the northern half of the country. If travelling to the south it’s best to go via Madrid. The road network is radial and converges in Pamplona, from where the main routes leave towards the rest of the autonomous community.
If arriving in Navarre without a car you can get around using the local buses. There are good connections to the southern half of the region and less frequent services towards the towns of the Pyrenees. You can always take a taxi or rent a car for more convenience.