Full-Day Sintra, Cascais, and Cabo da Roca Day Trip from Lisbon

Explore Portugal's historic palaces and rugged coastline
From US$1,335 privately
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Tour Details
8 hours
Product Type
  • Pena Palace
  • Cabo da Roca
  • Cascais
  • Sintra
  • Pena Palace Shuttle
Photos & Highlights
  • Spend a day in Sintra, Cascais, and Cabo da Roca, accompanied by an historian
  • Includes private car service to/from Lisbon
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Tour Description
Be mesmerized by the diversity of grand homes and palaces nestled in Sintras hills and along Cascais beautifully rugged coastline. In the company of a historian, you will spend the morning visiting some of Sintra's historic centre and Pena Palace. Your afternoon will see you road-tripping down the coast to soak up the ambiance of the idyllic town of Cascais. At your final stop, you will meet the ferocious Atlantic at the westernmost point of Continental Europe, Cabo da Roca.

NOTE: This tour includes a car service that will pick you up at your accommodation. Please tell us your hotel or apartment address in the 'Additional Details' box while adding the tour to your shopping cart.

Sites Visited 

  • Pena Palace (interior and exterior)
  • Cabo da Roca
  • Cascais


  • 8-hour private tour with a local guide
  • Private car to and from Lisbon
  • Tickets to Pena Palace
  • Afternoon road trip 

Itinerary Detail

Your guide and driver will pick you up bright and early from your hotel in Lisbon, and take you on the scenic route to Sintra to be introduced to this beautiful region. Upon arrival, you will start your day with a visit to the charmingly colorful Pena Palace. Surrounded by 200 hectares of lavishly planted gardens, you can admire a wide mix of architectural styles, an indication of the different tastes of the occupants who have inhabited the castle over time. You will wander through the ornately decorated interior while listening to intriguing stories of the many kings and queens who once walked these halls. Your morning in Sintra will continue with a stroll through the historic center before you embark on a coastal road trip to Cabo da Roca and Cascais.
On your way out of town, you will pause for lunch (at your own expense) before making your way to the most westerly point of continental Europe, Cabo da Roca. On your way, you'll drive through Cascais National Park, learning about the beautiful natural scenery around you as you make your way through. At Cabo da Roca, you'll pause to enjoy a sweeping view of the Atlantic and learn about the 18th-century lighthouse (Portugal's first purpose-built lighthouse) perched on the cliff above the ocean. Next, you'll hop back in the car to explore more of the coastal region, stopping off at such charming sites as Guincho Beach or Cascais town to take in the stunning surroundings. Your driver will return you to your hotel safe and sound at the end of the day, leaving you with a greater appreciation for the beauty and history of this special part of Portugal.

For those wishing to focus exclusively on Sintra, please see our Sintra Full-Day Excursion. For a crash course on Portuguese history and architecture, we also recommend our Introduction to Lisbon.


For more information about Context tours, please visit our FAQs.

Book with confidence — see Context's flexible cancellation policy here.

What is a private tour?
Our private tours are limited exclusively to travelers in your party. They are designed to provide a learning experience that is completely tailored to you and your traveling companions. Private tours give you more flexibility with scheduling (you decide when the walk best fits your trip), the ability to tailor your itinerary (we'll work to match the itinerary to the interests and dynamics of your group), and more personalized time with your guide.
Where do we meet? Where does it end? 
The guide and driver will pick you up and drop you off at your accommodations in Lisbon. 
What if it’s raining?
Tours operate rain or shine, but in the case of inclement weather, your expert will modify the tour so more time is spent indoors. It never hurts to be prepared; we encourage keeping an eye on the weather and bringing along an umbrella, sunscreen, water, or a hat as needed. Sintra has its own microclimate and as such tends to be significantly colder than Lisbon even in Summer. You should bear this in mind and dress accordingly for your excursion
We’re not staying in Lisbon, can we still do the tour? 
This tour is designed as a day trip from Lisbon. However, since it’s a private tour, we may be able to arrange for the guide and driver to meet you elsewhere and start your day there instead. If booking online, please mention this in the notes section so we can adjust your booking.
Is this suitable for children and/or travelers with mobility challenges? 
While we don't cover a large distance on the tour, nor do we take a fast pace, Lisbon is the City of Seven Hills and Sintra is no exception. We will be walking up stairs and on inclines, as well as on cobblestoned streets. We can adapt the route of our private tours based on the ages, needs, and interests of travelers in your party. If you have mobility concerns, please feel free to contact us before booking; we can help you decide on the best tour for your needs.
Where You'll Start
(4.84) 36 Reviews

Reviews can only be left by Context customers after they have completed a tour. For more information about our reviews, please see our FAQ.

Fabulous lunch by the sea
Jamie is very engaging, respectful, funny and knowledgeable. He made a whole grueling day fun.
The skip the line feature and shuttle bus at Sintra was a great time saver. Enjoyed driving along the coast seeing the beautiful views.