Spend a day discovering the romantic village of Sintra, a UNESCO-listed town full of Portuguese history and magical castles. After lunch, travel along the coast to Cabo da Roca—Europe's westernmost point—make a stop at the fishing village of Cascais, and pass the coastal town of Estoril.

Get picked up from your hotel (if in central Lisbon) or in our meeting point and travel to Sintra, the UNESCO-listed former summer residence of Portuguese kings with a fascinating history made evident by its many castles spanning different eras of history. Choose to enjoy a guided visit to the Royal Pena Palace, a gorgeous castle built on the ruins of a 16th-century monastery. Spend free time in the city center, making sure to document your visit with photos, before making a stop for lunch nearby.

After lunch, continue to Cabo da Roca, famous as the westernmost point of Europe. Admire the lighthouse and the panorama of clifftop views before heading down the hill. Pass Guincho Beach and make a stop at the fishing village of Cascais, with time to visit the village and check out the bay. On the way back to your hotel, pass Estoril, where Ian Fleming wrote the first James Bond novel.