here is the website for public transport (in a city and between cities) in cz.
http://jizdnirady.idnes.cz/vlakyautobusy/spojeni/
vlak means train. odkud = from, kam = to, i guess you'll figure out the rest.
the main bus station is Florenc and i guess this is where you will arrive (metro stop "Florenc" on red and yellow lines). take the number of the "pozn." (actual bus stop) where the bus starts from because the station is big. Some buses start from Roztyly (metro stop on red line. when you get of the metro, take the left exit, go down the hill a bit, find bus stop number 5. you will buy the ticket from the driver when getting on the bus.
you can take a train too. To Tabor, it's a bit more expensive and takes the same time. metro stop "hlavni nadrazi" on red metro line. you will buy the ticket from a ticket office in the station.
metro tickets are 18 Kc if for less than 5 stations, 26 Kc otherwise. You will find the yellow machines everywhere, or a ticket office where you can pay with banknotes.
Buses and trains both arrive at the same station ("hlavni nadrazi") in tabor, where you will find signs towards the beginning of the parade (5-10 mns walk to "Masarykovo namesti"). you should arrive to the spot between 10 and 11.30.
friday june 19th
There are buses more than once per hour, trains more or less too. czeck the website, or ask me.
saturday june 20th
train 6:14 - 7:50, R 943 Šumava,134 Kč (5 eur)
bus from Roztyly 7:00 - 8:36, 134102 1, 77 Kč (3 eur)
train 7:14 - 8:50, 101 Jože Plečnik, 134 Kč (5 eur)
train 8:14 - 9:50, R 633, 134 Kč (5 eur)
Bus from Florenc 9:05 - 10:55, 132100 7, station n°23, 84 Kč (3.5 eur)
train 9:14 - 10:50, R 635, 134 Kč (5 eur)
Bus from Florenc 9:30 - 10:55, 133103 5, station n°25
after that, nothing arrives before the beginning of the parade (at 12). so you're late! If you can't come to the parade and will just come to the festival, it takes place in CESTA. You should take a bus that goes to Křižíkovo nám., and then walk. Check the map: here