Everything within walking distance
The core of Novi Pazar is compact and level, so the main monuments can be walked between without any transport. The natural start is the park inside the fortress; from there you come out into the old bazaar, where Isa-beg's hammam, Amir-aga's han and the Altun-alem Mosque stand within minutes of one another, and the return follows the bank of the Raška.
What you pass is not a row of facades but a survey of five centuries of the city: the hammam Isa-beg raised when he founded the settlement, the han where merchants off the Dubrovnik road put up, the Altun-alem — among the oldest mosques in Serbia — and the fortress ramparts with their watchtower. Each has an article of its own on this site, so the walk can be read as you go.
The bazaar is not a museum street but a working retail quarter: craft workshops, denim shops and bakeries carry on either side of the monuments. That is the best argument for doing this on foot — walking shows the city as it is rather than as a row of pins on a map. The return along the Raška leads back to the fortress on the flat, without a single climb.