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This video shows some of the ways you can get into the Palestinian authority region from Jerusalem. I took the bus to 231 to Bethlehem to checkpoint 300.
it is really simple to enter into the Palestinian region and you do not even need your passport there are no guards you can just pass through easily
On the way back we used the same checkpoint 302 just have to show your passport and your Visa card and you just passed right through. we took the bus again 231 back to Jerusalem which stopped at the Damascus gate

On another day we took the bus from Jericho to Jerusalem and that is showing at the end of this video.
it is very safe to cross through legit the checkpoints and we did not feel worried at all. there are armed security guards when you enter and you have to pass through the scanners while you're entering