Lisbon: Pena Palace, Sintra, Cabo da Roca, and Cascais Tour

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Explore Sintra’s beauty and history, its romantic Pena Palace, and the stunning coastlines of Cabo da Roca and Cascais on a car tour from Lisbon.

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  • Explore the enchanting and stunning UNESCO World Heritage Site of Sintra
  • Discover Sintra’s beautiful architecture, historic estates, and lush gardens
  • Take in panoramic views of the stunning coastal cliffs of Cabo da Roca
  • Feel the strong wind off the Atlantic Ocean at Cabo da Roca's rugged headland


Depart from Lisbon while the first rays of dawn break over the city and head to Sintra to visit the colorful Pena Palace hidden behind the tallest trees of Sintra. This unique architectural and historical masterpiece makes all fairytales come true. Wander through the palace’s yards and gardens and explore its lavish chambers at your own pace. Next, head to the center of Sintra and enjoy some free time to wander along its charming, cobble-stoned alleys and streets at your own pace. Take recommendations of the town's must-see locations, as well as the best restaurant options for delicious traditional Portuguese dining from your guide. Continue to Cabo da Roca, the westernmost point of continental Europe and amaze yourself with the impressive views of the ocean crashing against the high rocky cliffs. Enjoy the harmony between the sound of the waves and the fresh breeze, where “earth ends, and the sea begins”. Then, hop back in the car and make the most of a short walking tour around the charming coastal town of Cascais. Unveil this town’s unique gems, be marveled with its amazing beaches, and absorb the Cascalense vibrant energy. Then, explore the town on your own, learning about its humble fishing community and links tot he Portuguese royal family. Relax back on board your air-conditioned car and admire more breathtaking views of the Portuguese coast, in Estoril, as you make your way back to Lisbon.


Driver/guide Hotel pickup and drop-off in Sintra, Cascais, or Lisbon (if option selected) Round-trip transportation by air-conditioned SUV Private tour (if option selected) Wi-Fi onboard Walking tour in Cascais

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