You need to have some clue about how each command is executed (i.e. the operator) in order to find its hotkeys, but if you do, it's not too difficult:
wm = bpy.context.window_manager # Blender window manager
keymaps_3DV = wm.keyconfigs['Blender'].keymaps['3D View'] # 3D View hotkeys
circle_keymap = keymaps_3DV.keymap_items['view3d.select_circle'] # Circle select keymap object
main_key = circle_keymap.type # "C" in this case
If you want to see if any modifier key is used, or if the ALT / SHIFT / CTRL keys are used, you can access this info this way:
modifier_key = circle_keymap.key_modifier # Is 'NONE' in this case
shift = circle_keymap.shift # Is False in this case
ctrl = circle_keymap.ctrl # Is False in this case
alt = circle_keymap.alt # You've guessed it
There's lots of other interesting properties of hotkeys to investigate, but I'll leave it to you.
To see the rotate operator's hotkey, access it thus:
circle_keymap = keymaps_3DV.keymap_items['transform.rotate']