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.
Full Day Tour: Sintra, Pena Palace, Cabo da Roca, Cascais

Sintra in one day feels a bit impossible. This full-day route packs Pena Palace (with a guided visit) plus Atlantic coast drama at Cabo da Roca. I like the small-group feel (max 7) because it keeps the day from turning…












