Small Group Tour: Sintra, Pena Palace, Cape Roca & Cascais
Recommended by 97% of travelers
Badge of Excellence
Lisbon, Portugal
- 8 hours (approx.)
- Pickup offered
- Mobile ticket
- Offered in: English
Why travelers loved this
·
Explore our promoted experiences
Overview
Many sightseeing tours try to pack in as many attractions as possible, leaving you exhausted at the end of the day. Opt for a gentler pace and more personalized experience on this small-group sightseeing tour of Sintra that brings the entire region into focus. Get an insider’s view of the picturesque, palace-filled city—without rushing and with plenty of time for questions and free time to explore.
- Hand-picked itinerary ideal for first-time visitors and return travelers alike
- Upgrade to include admission tickets to stunning Pena Palace, a 19th-century castle
- Relax with hassle-free, door-to-door transfers from anywhere in Lisbon
- Ride by comfortable, air-conditioned minivan, without stressing over trains or taxis
What's Included
- Round-trip transportation from Lisbon in a comfortable, air-conditioned vehicle
- Small-group experience
- Local guide focused on storytelling and context
- Carefully paced itinerary
- Photo stops and free exploration time
- Optional Pena Palace Park ticket (depending on selection)
- Hotel pickup included
- Lunch
Meeting and Pickup
You can head directly to your preferred meeting point, or request pickup.
Operating hours.7:50 am
Itinerary
1
Park and National Palace of Pena
1 hour 50 minutes • Admission Ticket Not Included
2
Centro Historico de Sintra
1 hour 20 minutes • Admission Ticket Free
Colares (Pass By)
3
Cabo Da Roca
25 minutes • Admission Ticket Free
4
Centro Historico de Cascais
1 hour 50 minutes • Admission Ticket Free
Additional Info
- Confirmation will be received at time of booking
- Not wheelchair accessible
- Stroller accessible
- Near public transportation
- Infant seats available
- No heart problems or other serious medical conditions
- Travelers should have a moderate physical fitness level
- Check the weather forecast and dress accordingly
- The tour may be subject to favorable weather conditions or minimum group size.
- This tour/activity will have a maximum of 7 travelers
Supplied by
Cancellation Policy
You can cancel up to 24 hours in advance of the experience for a full refund.
Traveler Photos
Reviews
4.9
based on 114 reviews
Sort by: Most insightful
Emily_C, Jul 2026
I joined this tour as a solo traveller and couldn't have asked for a better experience. The small group size made it feel personal and relaxed, and it was a great way to meet other travellers without feeling like you were on a big, rushed tour.
Our guide Rodrigo, was fantastic - super knowledgeable, funny, and genuinely enjoyable to spend the day with. He shared so much interesting history and local insight while keeping the atmosphere light and entertaining throughout the trip.
We visited Pena Palace, Sintra, Cape Roca and Cascais, every stop was well-paced and worth visiting. Rodrigo made the whole day seamless and memorable.
If you're visiting Lisbon and want to see Sintra and the surrounding highlights, I'd highly recommend this tour!
Anonymous, Jul 2026
We absolutely loved this tour (2 adults, 2 teens) and are so glad we chose it instead of trying to explore on our own. From the moment Rodrigo picked us up, his enthusiasm and passion for Portugal’s history made the day incredibly engaging. He did a fantastic job explaining the country’s history and how it all connected to Sintra and Pena Palace, adding so much depth and meaning to everything we saw.
His knowledge and expertise were invaluable, and he timed each stop perfectly, giving us just the right amount of free time to explore. The next two stops ended up being some of our favorites, and his recommendations for where to eat and shop were excellent.
As an added bonus, Rodrigo is an amazing photographer! He captured some beautiful family photos that we’ll treasure for years to come.
This tour was informative, well-paced, and so much more enjoyable because of the historical context Rodrigo shared throughout the day. We highly recommend this tour to anyone visiting Portugal!
Response from Host, Jul 2026
Hello Nicole! It was great spending the day with you and your family. I hope you all had a fantastic trip and made some great memories together.
Safe travels home, and maybe we'll see each other again someday.
Rodrigo :)
Michalis_K, Jul 2026
Amazing expericence - Pena Palace is a must-see. Rodrigo was very knowledgeable and well organised. A really fantastic guide!!!!
Many thanks.
Response from Host, Jul 2026
Hello Michalis, Georgia and Cristina! It was a pleasure having you along for the day. I'm really glad you chose to join the tour!
Safe travels back to Cyprus, and I hope to see you again someday!
Rodrigo :)
Thomas_W, Jun 2026
Rodrigo provided prompt, courteous service at the hotel pickup. He is extremely engaging and Informative. It was such an enjoyable day and we learned and saw so much. We were given excellent sightseeing and activity options to customize the experience according to our interests. We learned how incredibly valuable having such a guide with the inside knowledge necessary to pick the best time saving and scenic routes, with close in parking access and local knowledge specific things to enjoy and photograph. He has guided these areas hundreds of times. He provided us with the best ways to use our free time in exploring Lisbon and the surrounding towns in addition to all of the complex historical and cultural knowledge and dining recommendations he so well conveyed to us for this day’s tour. My wife loved relaxing and enjoying the scenery and so did I because we didn’t have to put all our attention into driving. We cannot recommend enough that any and all need to engage the excellent services that this guide provides.
Response from Host, Jun 2026
Hello Thomas! It was a real pleasure spending the day with you and Mary!. I'm glad you could simply enjoy the experience and make the most of your time.
I hope some of the suggestions helped during the rest of your stay and that you had a fantastic time exploring beyond the tour as well.
Safe travels back to USA and thank you again for joining me for the day.
Rodrigo :)
Alexandra_S, Jun 2026
Wonderful tour, especially for young travelers. We had Rodrigo as our tour guide and he was very knowledgeable and fun! He took us all around, talking about the area and giving us recommendations on what to do during our free time on the tour, and even gave us itineraries for the rest of our trip. All of the recommendations were personalized based on what we said we liked and disliked, and gave us an inside view of Sintra and Cascáis. 10/10, would highly recommend!
Response from Host, Jun 2026
Hello Alexandra and Jacob! Was great having you along for the day. Hope you had an amazing rest of your trip and got to enjoy a few more places before heading home.
Safe travels, and hope to see you again someday.
Rodrigo :)
Dianne_K, Jun 2026
We could not recommend this trip more highly. Rodrigo was an excellent guide; fantastic communication leading up to the trip, great understanding of the history, excellent communicator and a lovely sense of humour. You'll definitely have a memorable day plus he knows all the best spots for photos.
Response from Host, Jun 2026
Hello Dianne and Inna! Really glad you came along and had a great day. It was a pleasure spending the time with you and showing you around.
Hope you enjoyed the rest of your trip, and all the best on your travels.
Rodrigo :)
Marina_B, Jun 2026
Great day, great trip and great driver/ guide.
Well organized and planned. Very knowledgeable guide Rodrigo. Dropped us off at our hotel.
Response from Host, Jun 2026
Hello Marina and Michael! Was great having you along for the day. Glad everything went smoothly and you enjoyed the experience. Hope you had a great rest of your trip, and all the best on your travels.
Rodrigo :)
StellaMarie_W, May 2026
Our guide Rodrigo was very knowledgeable about the historical background of Sintra. He picked us up on time and a friendly person. He gave recommendations on good restaurants and cafes. Our day trip to Sintra was memorable. We highly recommend Rodrigo as a tour guide.
Response from Host, Jun 2026
Hello Stella! Thank you for your review. It was a pleasure meeting you and spending the day together. I wish you all the best for the rest of your travels and hope you enjoy the rest of your time in Portugal.
Rodrigo :)
Talia_D, May 2026
Rodrigo is an amazing tour guide with great sense of humor and an abundance of historical knowledge of Portugal. Super happy we booked this tour. Thanks again Rodrigo!
Response from Host, May 2026
Hello Talia and Franc! Really glad you enjoyed the day. Had a great time showing you around and spending the day with you.
Enjoy the rest of your travels and hope to see you again someday.
Safe travels back to Arizona!
Rodrigo :)
Fiorella_t, May 2026
We had an amazing time exploring Sintra, Cascais, and the beautiful coastline! Everything was smooth, fun, and well organized. The views were incredible and our guide made the experience even better. Highly recommend this tour for anyone visiting Portugal!
Response from Host, May 2026
Hello Fiorella! Was great spending the day with you and showing you around those parts of the coast. Really happy to hear you had such a good time.
Safe travels back to Miami!
Rodrigo :)
Steve_B, May 2026
Excellent experience with Rodrigo. Just the perfect balance of sights to see and great background information and time to wander, rest or enjoy a coffee. Rodrigo was a charming and funny host and we had a terrific friendly group.
Response from Host, May 2026
Hello Steve and Teresa! Thank you so much! Really glad you enjoyed the day and the group atmosphere. It was a pleasure showing you around Sintra and spending the day together. Hope you enjoy the rest of your trip in Portugal!
Rodrigo :)
Linda_G, May 2026
What an amazing day! If you do only one tour in Portugal, make sure it’s this one. Pena Palace is awesome, and the town of Sintra is not to be missed. The entire day was just spectacular and our guide, Rodrigo, was wonderful. He knows his history, but he delivered it a way that was very entertaining. Such a warm, delightful man. Our group of 5 all loved him. Book this tour and be sure to ask for Rodrigo. You won’t regret it!
Response from Host, May 2026
Hello Linda and Michael! Thank you so much for your kind review. It was a real pleasure spending the day with you!
You were great company, and I’m very happy to hear that you had such a memorable experience. Your words mean a lot to me and are truly appreciated.
I hope you enjoy the rest of your time in Portugal and that we have the chance to see you again in the future.
Rodrigo :)
Jennifer_P, May 2026
I’d pick a sunny day for better views from the castle. I’m 72. I had no trouble walking from the parking lot. Every location was stunning. Have a pastry in the morning and save your appetite for the last stop. Rodrigo is very good as the tour guide.
Response from Host, May 2026
Hello Jennifer! Thank you so much for your kind words, I really appreciate it. It was a pleasure spending the day with you, and I’m really glad you enjoyed the experience. Hope to see you again next time you’re in Lisbon!
Rodrigo :)
Padmashree_C, May 2026
It was an awesome trip!! Our guide Rodrigo helped us understand the history, guided to visit places. He's very friendly, amazing and helpful!!
Wonderful tour experience...
Response from Host, May 2026
Hello Shree! Really glad you enjoyed the day and had a good time exploring everything together. It was a pleasure having you along and sharing the experience with you.
All the best on your travels, and safe travels back to India.
Rodrigo :)
Anita_D, May 2026
What a fantastic guide Rodrigo was today. His knowledge of Portugal and the areas we visited was exceptional. We travelled in comfort and his detailed information of the history not only the country, but also the places on the tour, was excellent. A thoroughly lovely day with this bright and delightful young man. Well done Viator for choosing such a great guide.
Response from Host, May 2026
Hello Anita and Barry! Thanks so much for this, really appreciate it. Was great spending the day with you and showing you around.
Glad you enjoyed the places we visited and all the stories along the way. Days like this are always more fun with good people in the group.
Hope you enjoyed the rest of your trip, and safe travels back to UK.
Rodrigo :)
Mark_A, May 2026
Rodrigo provided us an amazing tour of Sintra and Cascais. His insight into the history and places to see in is second to none. I highly recommend him!
Response from Host, May 2026
Hello Mark! Thanks a lot for this, really appreciate it. I’m glad you enjoyed the day, it was great having you along and showing you around.
All the best and safe travels back to Germany!
Rodrigo :)
Harley_Y, May 2026
Rodrigo for very knowledgeable and pleasant offering many side suggestions about places in lisbon to visit and restaurants. I would highly recommend this tour to anyone.
Response from Host, May 2026
Hello Harley! Thank you! Really glad you enjoyed the tour and the suggestions. It was a pleasure, hope you have a great time exploring Lisbon! Safe travels back to Michigan!
Rodrigo :)
Priscilla_A, May 2026
We absolutely loved the whole tour and the tour guide is amazing. He is so informative and my husband and myself, learned alot today. Thank you Rodrigo
Response from Host, May 2026
Hello Priscilla and Brian! Thank you so much! I’m really glad you both enjoyed the tour, it was a pleasure having you with me.
Enjoy the rest of your trip!
Safe travels back to Texas!
Rodrigo:)
Tom_F, Apr 2026
We had a great tour that lasted even longer than we expected 😀. Our guide, Rodrigo, had a lot of information to give us. He was also very friendly and at the end of the day, it felt almost being out on a tour with your friends.
Immediately after I booked the tour, mentioning the pick up adress and in which hotel we stay, he informed that he will pick us up at the hotel. That's already a big plus, when the tour starts early morning. After that we picked up the rest of the group from two more hotels and off we went to Sintra. Rodrigo kept us well informed during the whole day and even assisted as our private photographer. 😃
We can highly recommend him and would like to go on another tour with him again in the future.
Response from Host, Apr 2026
Hello Tom and Noel! Really nice spending the day with you, glad it felt easygoing and that everything worked out smoothly from the start. Always happy to help capture a few moments along the way too.
All the best on your travels, and hopefully we cross paths again next time you’re in Portugal.
Safe travels back to Finland!
Rodrigo :)
Pamela_P, Apr 2026
The guide was very personable, informative and professional! I felt safe driving to the location, he was very concerned for your safety and kept our interest!
Response from Host, Apr 2026
Hello Pamela! Glad you felt at ease during the day, that means a lot. Was great having you along.
All the best on your travels, and you’re always welcome back in Portugal.
Rodrigo :)
Francine_T, Apr 2026
We had such a wonderful day with our tour guy Rodrigo. Rodrigo was very knowledgeable about the history of the country, he also recommended some delicious pastries for my daughter and I to try. I would highly recommend this tour and Rodrigo.
Response from Host, Apr 2026
Hello Francine! It was a real pleasure spending the day with you both and showing you around. Glad you got to enjoy the local stops along the way :)
Wishing you many more great travels ahead and you’re always welcome back in Portugal anytime.
Safe travels back to New York!
Rodrigo :D
Soheila_A, Apr 2026
Our guide Rodrigo was friendly, knowledge and helpful. My family and I, visiting from Los Angles and in Lisbon for the first time. were quite satisfied with our one hour ride and strongly recommend him to others.
Response from Host, Apr 2026
Hello Soheila! Thank you so much for the kind words! It was a real pleasure meeting you and your family and showing you around Lisbon. I’m glad you enjoyed the experience, wishing you an amazing time for the rest of your trip!
Rodrigo :)
Katherine_E, Apr 2026
Just got back from a great day out to Sintra, Pena, Regelaria, Roca and ending in Cascais. Rodrigo was a great tour guide! Didn’t rush us at any point during the tour with lots of great recommendations for food, ice cream and most importantly pastries! Great way to spend the day and see the surrounding Lisbon area! Highly recommend this as a trip with Rodrigo.
Response from Host, Apr 2026
Hello katherine, James, Sophie and Jessica! It was great spending time with you and I’m happy you made the most of everything (especially the important part… the pastries :).
If you’re ever back in Lisbon, I’ll be here for round two!
All the best,
Rodrigo :)
Bina_P, Apr 2026
This was a wonderful trip for our first time visit to Portugal. The tour was well planned, paced and enjoyable for us as well as our teenagers. Rodrigo is very knowledgeable and we learnt a lot about Portugal . He was very friendly, knowledgeable and personable. We greatly enjoyed our time with him. We would highly recommend this tour.
Response from Host, Apr 2026
Hello Bina! Thank you so much for your review! It was truly a pleasure spending the day with you and your family. I’m really happy to hear you had a great experience.
Wishing you all the best!
Rodrigo :)
Sylvain_R, Apr 2026
Rodrigo was very friendly and knowledgeable. Many beautiful things to see, especially the Pena palace. Good restaurant suggestions in Cascais. Hotel pickup was very convenient.
Response from Host, Apr 2026
Hello Sylvain! Thanks so much for your message, really appreciate it. It was great spending the day with you and I’m glad you had a good time.
All the best on your travel to Mallorca, and hope to see you again in Portugal!
Rodrigo :)
Chad_A, Apr 2026
Great day spent with daughter in Sintra , Cascais. Learned a lot and had a great guide named Rodrigo who was so nice !
Response from Host, Apr 2026
Hello Chad! Thank you so much! It was a real pleasure spending the day with you and Charlotte!
I’m really glad you enjoyed Sintra and Cascais and that you found the experience interesting. Wishing you both a great rest of your trip!
Rodrigo :)
Dante_D, Mar 2026
My tour guide was so knowledgeable in comparison to other tours I have done throughout Europe. Very detail oriented, knowing specific dates and facts that were not general knowledge. Incredibly kind and flexible with schedule. Book with him for sure!
Response from Host, Mar 2026
Hello Dante! Thank you so much, we truly appreciate your words! It means a lot to know the experience stood out for you. We are really glad you had a great time, and it would be a pleasure to welcome you again anytime!
Rodrigo :)
Kelly_C, Mar 2026
Our guide Rodrigo was very informative, courteous and friendly. The day was so enjoyable as we visited many different places, were given time to ourselves for lunch and sightseeing and never felt rushed.
Response from Host, Mar 2026
Hello Kelly and Dan! Thank you so much for your lovely review. I’m really glad you enjoyed the day and all the places we visited together. It was a pleasure having you on the tour, and I’m happy to hear you appreciated the relaxed pace and the time to explore and enjoy lunch.
Wishing you wonderful travels ahead, and I hope to welcome you back to Portugal someday!
Rodrigo :)
Karla_M, Mar 2026
That booking with Viator was amazing experience My Guide Rodrigo knew the history of the places we visited and a lot of the history of Portugal,
He took the time in each location taking pictures of my husband and l. We visited Sintra Palace, took us to the end of the world or what they saw it was. We visited Cascai and had lunch there and the he drop us close to our Hotel which was nice. The whole experience was amazing.
Response from Host, Mar 2026
Hello Karla and Martin! Thank you so much for joining the tour! It was such a pleasure spending the day with you both. I’m really glad I could share a bit of Portugal’s history and show you some special corners along the way.
Wishing you safe travels back to Australia!
Rodrigo :)
Rebecca_J, Dec 2025
Rodrigo was an amazing guide on our tour to Sintra, Pena Palace, Regaleira, Cabo da Roca and Cascais. He was knowledgeable, engaging, and attentive to all of his guests. He provided lots of interesting insights and historical facts. He answered every question we threw at him and gave great shopping suggestions. Rodrigo took the time to get to know each one us and truly made this a memorable and fun experience!
Response from Host, Dec 2025
Hello Rebecca and Sarah! Thank you for joining the tour! It was great spending the day with you. Wishing you safe travels back to Washington, D.C. and Minnesota! Hope to see you again on your next adventure in Portugal!
Rodrigo :)
From $86.02
per personup to 24 hours before the experience starts (local time)
Compare Similar Experiences
Current
Small Group Tour: Sintra, Pena Palace, Cape Roca & Cascais
114
8 hours
Free Cancellation
From
$86.02
Customers Who Bought This Tour Also Bought
Explore Similar Things to Do
Attractions in Lisbon, Portugal
- National Palace of Queluz Tours & Tickets
- Vasco da Gama Shopping Center Tours & Tickets
- Palmela Castle (Castelo de Palmela) Tours & Tickets
- Commerce Square (Praça do Comércio) Tours & Tickets
- Church of São Roque (Igreja de São Roque) Tours & Tickets
- Tomar Tours & Tickets
- Museum of Art, Architecture and Technology (MAAT) Tours & Tickets
- Costa da Caparica Tours & Tickets
- Basilica da Estrela Tours & Tickets
- Park of the Nations (Parque das Nações) Tours & Tickets
- 25th of April Bridge (Ponte 25 de Abril) Tours & Tickets
- Lisbon Cathedral (Sé de Lisboa) Tours & Tickets
- National Tile Museum (Museu Nacional do Azulejo) Tours & Tickets
- Estoril Tours & Tickets
- Freeport Lisboa Fashion Outlet Tours & Tickets
- LX Factory Tours & Tickets
- Lisbon Cruise Port Tours & Tickets
More attractions near Lisbon, Portugal