Legally, there isn't a minimum age or any other restriction to do the excursion. In fact, even children are able to do this excursion because it is not very hard or risky. Some people might think that the full day excursion is a bit long and will prefer to spend the night in Aguas Calientes and return to Cusco the day after by train. For other people, leaving their hotel in Cusco at around 6 am and returning around 10 pm, after visiting Machu Picchu by foot, won't be a problem at all.
Regarding the access, there is some difficulty. There is no escalade, there are small irregular-stone paths and stairs that are not dangerous but present difficult passages. People with mobility issues can visit Machu Picchu, with assistance to move around.
To sum up, this excursion is open to every body and it can be done in a full day (15 hours approximately) or in 2 days, by adding options, for those wanting a slower rhythm.
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