By air reach Kathmandu and further by road to Lake Mansarovar. Land cruisers then take one to Mansarovar via Lhasa to Mount Kailash.
By road from India - the Government of India organises tours to Mansarovar Lake. This is a 26-day trek book your tickets well in advance because the number of seats is limited. About 500 people make it out of the nearly 6,000 that apply each year. For more information, https://kumaon.gov.in/pages/display/74-kailash-mansrovar-yatra