If you want the best of both worlds, you can easily get across the border via Victoria Falls Bridge. All you'll need is your passport and a double / multiple entry visa, which you can purchase at the border control (your guide or transfer agent generally expedites this for you).

Yes, crossing the border between Zimbabwe and Zambia at Victoria Falls is considered very easy and is one of the most scenic border crossings in the world. The two border posts are connected by the iconic Victoria Falls Bridge, which you can cross on foot, by taxi, or by train. For tourists, the process is streamlined by the KAZA Univisa, which allows multiple entries into both countries (and day trips to Botswana) for a single $50 fee, provided you stay within the designated zones. The walk across the bridge takes about 20 minutes and offers spectacular views of the Zambezi River and the "Smoke that Thunders." If you have heavy luggage, taxis are readily available on both sides for a small fee (usually $5–$10). While it is safe and straightforward, it is important to ensure you have your passport, yellow fever vaccination card (if required), and the correct visa type before arriving. The officials are generally helpful, and the proximity of the towns (Victoria Falls in Zimbabwe and Livingstone in Zambia) makes it a popular day trip for many travelers.