San Ignacio de Moxos is a town in Beni Department.
San Ignacio is known for its native costumes and Jesuit mission.
You can come by a shared taxi (leave when full) from Trinidad or San Borja (or Rurrenabaque). From San Borja it takes 3.5 hr and costs Bs. 70, the road is a mix of gravel and dirt.
The bus terminal is east of the town (Trinidad side), but it's not a long walk to the main plaza.
On foot or by mototaxi.
Main square and the church is nice. There is another (older, but more natural) square (or park) on the way to the bus terminal.
Participate in town events (some part of them around the church), where you can get a glimpse at traditional costumes. For more info on events, ask in the Beni department tourist office in Trinidad or ask locals.
Several accommodation options exist in this area, just ask around, starting from Bs. 35.