Many safaris take visitors out into the wilds in a jeep, a speedy mode of transportation, which lets safari-goers cover a lot of ground and observe wildlife from a safe distance with some protection. If driving is not your preferred mode of transportation, however, you can seek out one of the many alternatives. There are balloon safaris, canoe safaris and walking safaris, to name a few. You might also be interested a photographic safari, or a cultural one, that gives you time to visit with locals. Most safari-goers appreciate the trained eye of an experienced guide who can spend time educating his guests about the area and helping them see things they might otherwise miss.
Local guides are always preferable, if possible.
There are tour operators who are very focused on maintaining the health and natural balance of the environment, and who take steps to support these ends through their tours. Look for operators that run tours with a limited number of guests, where the focus is on observing the environment in its natural state. In order to meet their promise, they may provoke animals into performing a Wild Kingdom-like demonstration of ripping their prey to pieces. You might also be wary of operators that offer night viewing, which is stressful to the animals. As on any tour, it is important to accurately assess what you need in terms of accommodations, food, etc.