Use the Jubilee line from Waterloo to Westminster, then change for the District line to Richmond.
The reverse route is also available via Westminster
From Richmond, take the District line to Embankment, then switch to the Bakerloo or Northern line to Waterloo.
Piccadilly line options via Hounslow, Hatton Cross or Green Park, connecting to Jubilee or Northern lines.
Northern line services also run between Battersea Power Station and Waterloo.
