Discover the former summer residence of Portuguese kings and some of the highlights of Lisbon with this day of exploration. A personal guide shows you to landmarks that range from Pena Palace to the iconic Belém Tower, and lets you in on the country's remarkable history.

After convenient pickup from your hotel, take a relaxing drive through the countryside to the town of Sintra, a UNESCO World Heritage Site filled with vibrantly colored shops and houses, as well as hills blanketed in lush green trees. As you stop by the starkly colorful Pena Palace, built high atop a hill on the ruins of a 16th century monastery, your guide shares anecdotes that reveal the town's rich history as a favorite retreat for Portuguese monarchs.

After some free time in the town center, head back to Lisbon to begin your tour of the city. Explore the Belém neighborhood, including Belém Tower, the Discovery Monument, and Jerónimos Monastery. Admire the bustling Commerce Square, pass by Lisbon Cathedral to see the oldest church in the city, and then finish the tour with a visit to Parque das Nações, a modern part of the city built to honor the 500-year anniversary of Vasco da Gama's expedition to India.