From Pimlico Underground Station Tube to Oxford Circus Underground Station. 6 min £2. From Vauxhall, St. George Wharf Pier ferry to Embankment Pier. 12 min £5. From Pimlico, Belgrave Road bus to Soho, Cambridge Circus. 18 min £3. From Pimlico taxi to Soho. 5 min £13. From Pimlico Uber to Soho. 5 min £15. From Pimlico walk to Soho. 41 min. From Alderney Street, Pimlico Bikeshare to Frith Street, Soho. 18 min.