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To get to the rental cars and ground transportation at MSP Airport, cross the skyway at the Humphrey Terminal 2 to the parking ramp; then take the stairs or elevator down to Level 1 of the parking garage.
To connect from the Humphrey Terminal to the Lindbergh Terminal, you can use the light rail at the transit station, a five-minute walk. To get there, you need to take the skyway to the parking ramp second level, follow signs, and walk through the parking ramp to the transit station.