Travel to Pisco

Most of the buses on the Pan-american Highway from Lima to Ica, Nazca, Arequipa etc. won't leave this road, dropping you of at the junction about 4 miles outside town, from where you can pick up a local bus or taxi.

Some buses from Lima (3-4hrs) do go in to town and there are local buses to Ica.

Taxi

You may be able to negotiate a taxi to take you from Lima to Pisco for around 200 soles. This can be a lot more comfortable especially if you are going to arrive in the dark.