I take it you are asking about getting there using Disney transportation. But just in case you do have a car, driving is pretty easy.
Using Disney transportation, your suggested route would work pretty well. You could also just walk from the MK bus stop to the contemporary - it would probably be faster that way since the MK monorail stop is in the opposite direction than the CR from the bus stop. BTW, when returning, do indeed walk to the MK bus station since the resort monorail would first make stops at the TTC, Poly, and GF before returning you to the MK.
Another possibility is, if you are already in one of the other parks, just take the CR bus directly from there.
Taxi's are always available and shouldn't cost more than $10.