[Sangetsu]

There is a station at Kansai Airport, you can take the local train from there to Shin-Osaka station where you can catch the Shinkansen to Tokyo. The last time I took the trip, a reserved seat cost 18,000 yen. If that's to expensive, you can take a highway bus to Tokyo Station from Kansai airport; however, the bus is an overnight or all-day trip, whereas the Shinkansen makes the trip in about 3 hours.

Most of the places in your Tokyo itinerary are on the Yamanote train line, so getting to them is easy. The Yamanote line runs in a circle through the city, and will pass Shinjuku, Harajuku, Akihabara, Ueno, and Ikebukuro. Harajuku and Yoyogi park are next to each other, which is convenient, Shibuya is only one stop away, and you can walk there in 15 minutes from Harajuku. The National Museum is located across the street from Ueno park. To get to Asakusa, you'll need to take the Ginza or Asakusa line subway, to get to Midtown, you can take the Hibiya line. To get to Odaiba, you take the Yurikamome line from Shimbashi Station.

You should be able to find train and subway maps in any language on the internet. Find one and print it out. Guidebooks are also very handy, and can give you step-by-step directions.