Visit the Palaces of Sintra + Historic Town of Cascais, Lisbon

Discover Portugal's royal history on this excursion to the former summer residences and vacation spots of the monarchy and aristocracy. You'll depart from Lisbon to Sintra, where you'll take a guided visit to the Pena Palace, the castle in the clouds whose red and yellow facade seems to come straight out of a fairy tale. You'll next head to the historic center of Sintra, which is filled with brightly colored buildings and local delicacies. Continue on to the rugged cape Cabo da Roca before stopping in the seaside town of Cascais, famous for the impressive villas and summer houses of Portugal's aristocracy. Take in panoramic views of Cascais from the Casino do Estoril before returning to Lisbon.

You'll travel from Lisbon to Sintra, a national park filled with palaces, estates, and gardens about 30 minutes from Portugal's capital. The first stop of the excursion will be a guided visit to the 19th-century Pena Palace, whose bright red and yellow romanticist facade has made it one of the most iconic sites in Portugal. This former summer residence of the royal family often looks like it's floating in the clouds like a fairy-tale castle, and you'll get to learn about the history of this colorful palace constructed at the behest of Prince Ferdinand II.

After visiting the palace, you'll continue on to the historic center of Sintra. Brightly painted buildings of yellow, blue, and pink line the cobblestoned streets and alleyways. If you're a fan of sweet treats, you may want to try the pastries Sintra is famous for: a cheesy queijada or a travesseiro, an almond-filled puff pastry. You can also purchase local and regional products during this time in Sintra's center.

There will be a stop for lunch, and then you'll head to Cabo da Roca, a rugged cape that is the westernmost point of continental Europe. Feel the fresh air and take in the dramatic views before continuing along the Atlantic Coast toward Cascais. En route, you'll pass by Guincho Beach and the natural stone arch of Boca do Inferno, so be sure to have your camera ready.

You'll spend some time in Cascais, an old fishing village that was transformed into the "playground" of the Portuguese aristocracy and nobility who built their summer homes here. Their imposing villas still remain, adding a sense of history and elegance to Cascais, which is now home to high-end shops, cafés, and restaurants, and a picturesque old town of colorful buildings and mosaic-patterned streets. After walking around Cascais, you'll head to the Casino do Estoril to take in panoramic views of Cascais and the sea, and then you'll return to Lisbon.