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I have pretty consistently been charging approximately half my normal billable rate for all time I spend travelling to a client. It usually at least covers the gas and depreciation and also gives both me and my client an incentive for me to not travel onsite unless necessary. It also makes accounting for it pretty simple. And charging for the time I'm travelling and not the mileage helps protect me somewhat when traffic is bad. This system seems to work well when talking about the benefits of remote support for my clients.