Since the continuous image of a connected set is connected, and since the connected sets in $\Bbb R$ are the intervals (possibly degenerate), $f$ maps intervals to intervals. Since $f$ is 1-1, it follows that $f$ is an open mapping. That is, $f$ maps open sets to open sets (in particular, open intervals to open intervals). Thus, the inverse $f^{-1}$ is continuous.
For completeness, I'll show that
$f$ maps open sets to open sets (the other facts used above are all standard theorems):
Let $O=\text{ dom}(f)$ and let $U$ be an open subset of $O$.
Let $y$ be in $f(U)$. Choose $x\in U$ and an open interval $(a,b)$ containing $x$ with $[a,b]\subset U$ and $f(x)=y$. Then, since $f$ is 1-1 and continuous, $f\bigl(\,[a,b]\,\bigr)$ is either $\bigl[\,f(a),f(b)\,\bigr]$ or $[\,f(b),f(b)\,\bigr]$.
Without loss of generality, assume $f\bigl(\,[a,b]\,\bigr)=\bigl[\,f(a),f(b)\,\bigr]$. Then, since $y\in(\,f(a),f(b)\,\bigr)\subset f(U)$, it follows that $y$ is in the interior of $f(U)$.
Thus, every point of $f(U)$ is an interior point of $f(U)$; whence $f(U)$ is open.