Escape the hustle and bustle of Lisbon on a full-day tour to Sintra, Cascais and Estoril on the Atlantic Coast. Start with a visit to Pena Palace to discover the summer residence of the Portuguese royal family. See the secret caves in the palace gardens, and marvel at views of the wooded hills and towering cliffs of Sintra-Cascais Natural Park. Your guide will explain the area’s fascinating history, before giving you some free time to wander Sintra’s historic center. Continue after lunch to the westernmost point of continental Europe at Cabo da Roca, thought to be “The End of the World” to the ancient civilizations of Portugal. Take in views of the Atlantic Ocean from Guincho Beach, and keep your eye open for surfers on the waves of the Estoril Coast. Stop in the former fishing village of Cascais, now part of the Portuguese Riviera, and explore a favorite retreat for European royalty in exile. Head back to Lisbon along the “Marginal” road, passing magnificent white sand beaches and 17th-century forts along the way.