To get to Pipa, the most common way is to take a flight to Natal International Airport, which is about 100 kilometers away. From there, you can take a bus or a taxi to the town of Pipa, which will take about an hour and a half.
There are also private transfer services available.
Another option is to take a bus from Natal to the city of Goianinha, and from there take a taxi or shared transport to Pipa.
The length of the trip will depend on traffic and road conditions, but generally takes around two hours.
See also information on Natal.