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On arriving at London Heathrow Airport there are 4 ways of getting out:
Underground (subway) trains
Heathrow express train
The underground (subway) trains are the cheaper option, but take longer than the London Heathrow express. The underground is often fairly empty at Heathrow, but fills up along the way. If you travel during rush hour traffic (early morning or late afternoon) it will get very full. There are several options for purchasing tickets (one-way ticket, return or travel passes for various zones or periods). There are 3 underground stations at Heathrow Airport:
"Heathrow Terminals 1,2,3" is an underground station in zone 6 on the Piccadily Line.
"Heathrow Terminal 4" is a unidirectional line to "Heathrow Terminals 1,2,3"
"Heathrow Terminal 5" is at the end of the Piccadily line.
The Heathrow Express service runs from London Heathrow Airport to Paddington Station in central London. It's a bit more pricey than the Underground, but gets you to Paddington Station a lot quicker.
There are a full range of car rental options at Heathrow Airport (e.g. Avis, Hertz, National, Europcar, Budget, Enterprise).
A central bus station is located near Terminals 1,2,3 & the National Express Coach operates coach trips from the central bus station to central London (Victoria).
Tower of London