Meet a driver/guide at your hotel in Lisbon for 9am departure, then begin the 18-mile (30-km) trip to Sintra, a town set high in the Serra de Sintra hills. You’ll break up the drive with a stop at the National Palace of Queluz, once the home of Portugal’s queens and kings (entrance fees not included).
Upon arrival in Sintra, set out on foot to discover the town, walking with your guide to the Moorish castle that dominates the UNESCO-listed historic center. You’ll see walls that date to the 8th and 9th centuries, and find fabulous views of the hilly landscape.
The next stop is Quinta da Regaleira, a palace with secret tunnels, mazes, and fascinating riddles and symbols that evoke everything from the ancient Greeks to the Knights Templar. You’ll dine in the palace’s restaurant, a cluster of marble tables in palace courtyard.
Following the meal, continue to the town of Colares for a tasting of the region’s distinctive wines, then keep driving to Cabo da Roca, the most westerly place in continental Europe. Walk along the cliff tops for great views of the sea, looking out over the towns of Estoril and Cascais, head to the beach, then explore Cascais on foot—it’s a onetime fishing village that’s now an elegant vacation town.
This full-day tour concludes with drop-off at your Lisbon hotel.