Tours headed to Neuschwanstein leave from the Munich train station because it is central and easy to find. Even at that, they are on buses. It is a pleasant trip through Bavaria. You will be let out at the visitor's center at the base and to get to the top you either hike, take a tram (bus) or a horse drawn wagon. It may in fact be the model for the castle at Disneyland, other things may feel like you are there.
At the castle you can take a tour, but be warned that there are many steps. The best views for photos are from the bridge which is well signed. Many people walk back down, but it is a real hike.