The city offers a free shuttle bus! The Crosstown route stops at the Caltrain station near University Avenue. The Embarcadero route stops near Palo Alto High School.
Click for Crosstown schedule and map.
Click for Embarcadero schedule and map.
There is also a Palo Alto Tech Line Shuttle, offered by Stanford Health Care, operated by Douglas Parking.
These shuttles do not operate on weekends.