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I try to get a paper map. Usually at a tourist information thing if there´s one. In europe there´s plenty of those. And most of the time they do have a usable city map you can take for free. Or i buy a hiking map in a store.
If that fails i use my smartphone, locus app and one of the open map sets listed in the app.
Google maps is good too, especially with the integrated google search stuff when you are looking for something in particular. But google maps is a little bit too inaccurate for my taste, and too carcentric. Pedestrian or cycling infrastructure is often simply not shown on google maps, just roads.
