Great day trip from Lisbon, much easier than trying to string together these locations using public transportation or a rented car. Nice balance of escorted time and free time, and 8 in a van was better than being herded around with 40 on a bus. Our guide (Maria) was friendly, knowledgeable, and had great driving and parking skills. Pena Palace, the town of Sintra, Cabo da Roca, and the coastline are all fascinating, Cascais maybe a little less so. One caution for weaker walkers - walking from the parking spot to the Pena Palace through the forest is a real hillclimb. It's a beautiful little hike with a spectacular view of the palace and other sights along the way, but the uphill is serious, so if you're unfit, you may want to split off at the gate and take the little tram up the hill instead.
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