I have never been there personally, so my best advice would be to ask the information counter.
Nara can be reach in by Kintetsu line or JR Line. If you use JR line, there is an information counter just within the station. They have maps and an English speaker staff , although not always available.
Sakai is part of Osaka
. If you are going to stop in JR Osaka/Umeda station. there is also an information counter just outside the gate ( sorry I forgot the specific location ). They also have all the information there.
Sakai can be reach thru Nankai Line .
So enjoy.