If you would rather see Lisbon with a guide, HappyToVisit ranks the best-reviewed Lisbon tours, and the official Visit Lisboa and Visit Portugal sites cover hours and access.
From Lisbon: Sintra & Regaleira w/tickets – Small Group Tour

Sintra feels like a storybook. The best part here is the small-group pace, then a guided focus at Quinta da Regaleira where you’re not just sightseeing—you’re getting the meaning behind what you’re seeing. You get to wander Sintra’s historic core…














