The romantic charm of Sintra and Cascais is on full display as you get to know these idyllic towns. Your guide shows you the lush forests, gardens, and grand palaces that combine with the coastal beauty of Cabo da Roca to form some of the most beautiful scenery in Portugal.

Once you meet your guide, a drive in a comfortable minivan takes you out from your hotel and into the fairytale landscape of the Sintra hills. Your first stop lets you step into the colorful Romanticist castle of Pena Palace, where you can admire the views over Lisbon from its balconies and explore the elegant halls of a fortress considered one of Europe's most beautiful.

Next, you head downhill to visit the postcard-worthy village of Sintra, known for its well-preserved 19th-century architecture and delectable pastries. Browse for some charming souvenirs before you move on to Cabo da Roca, where you can admire the sea from the westernmost point on mainland Europe.

The last leg of your journey takes you along the coastal road to the mouth of the Tagus, with a stop at the village of Cascais along the way. Learn about the history of exiled kings and World War II espionage as you explore the peaceful fishing village, and then follow the magnificent Avenida Marginal for a look at the Estoril coast as you head back to Lisbon.