If the pipe is metallic and ...

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If the pipe is metallic and conductive (Iron, Steel, Copper) or has a tracer wire, a standard pipe and cable locator will do the job very accurately. You can detect location and depth and is generally the least expensive tool. Different types of materials and underground will effect the choice of models such as single vs. multiple frequency, or the power output of the transmitter.

On non-metallic pipe such as PVC or HDPE, there are methods such as acoustic locating and glass fiber push rods that can be used with a pipe locator. I have an article on locating non-metallic pipe linked here.