Departing from Lisbon, head toward the rippling and dewy Sintra (World Heritage Site by UNESCO at 1995). Start the day with a visit to the amazing Pena Palace (Guided). The palace's history started in the Middle Ages when a chapel dedicated to Our Lady of Pena was built on the top of the hill above Sintra. The current palace dates back to 1838, when King Ferdinand II bought the ruins of the Hieronymite Monastery of Our Lady of Pena and started to adapt it for use as a residence according to his romantic taste. Today, the palace constitutes one of the major expressions of 19th-century romanticism in the world.
After lunch the tour continues to the Westmost point of Continental Europe, Cabo da Roca.
Afterwards, visit Cascais, a former fishing village that gained fame as a resort for Portugal's royal family in the late XIX century and early XX centuries. Nowadays, it is a popular vacation spot for both Portuguese and foreign tourists, as well as a village with small museums, picturesque gardens, a shiny marina and a pedestrianized old town.
Later return to Lisbon along the coast, passing by Estoril (Casino and gardens) until Lisbon, admiring the beautiful coast and its beaches.