From Frankfurt International Airport, you can get into the city easily either on the S-Bahn trains, or by taxi from the outside of the terminal building. Taxis in the city are not too cheap, although using public transport can be cost effective, especially of you buy full day tickets rather than paying each fare as you go.
Hiring a car in Frankfurt is recommended if you are travelling long distances outside the city, in which case it makes getting around very efficient, particularly as the roads are very good, although you should be careful on the autobahn, as some drivers push their cars a little to hard.