Both destinations are served by Vishakhapatnam (VTZ). Since there's no flight route between them, the best way to travel is by road.
Rayagada
Fly to Vishakhapatnam (VTZ), then travel by road to Rayagada. Taxis, buses, and private cabs are available from the airport.
Vishakhapatnam
Fly to Vishakhapatnam (VTZ), then travel by road to Vishakhapatnam. Local transport options include taxis, auto-rickshaws, and state buses.