The town of Bocas del Toro, on Colon Island, is reachable by air with daily flights from Panama City as well as flights from San Jose, Costa Rica. You can also come by bus and take a ferry from the mainland. Aeroperlas and Air Panama have several daily flights from Panama City to Bocas. Round trip tickets from Panama City can be booked by Hotel Bocas del Toro.
By land you can take a bus or car to Almirante on the mainland and take boat taxi or ferry to Bocas town on the main island, Isla Colon. In Almirante there's a safe place to leave your vehicle for the duration of your stay in Bocas. You won't need a car in Bocas. The drive between David and Almirante is mountainous and very scenic.