Its very easy and comfortable, to be booked from the Terminal Bimodal. Fares are around 110 one-way if i remember correctly and a recomendable bus company is "Bolivar" . The category "semi-cama"...
This is what I found off of www.travel-bolivia.com/samaipata.html Buses to Samaipata leave daily from the bus terminal usually around 4pm. There is also an express taxi near the bus terminal that...