Private tour

From Lisbon: Sintra, Cascais, Cabo da Roca Private Car Tour

Activity provider: Heart&Soul Tours

From Lisbon: Sintra, Cascais, Cabo da Roca Private Car Tour

Activity provider: Heart&Soul Tours

From US$ 260.43 per group up to 2

Explore the stunning Sintra, Cabo da Roca, and Cascais on a private guided tour by car. Choose to visit palaces and castles like the fairytale-like Pena Palace, Quinta da Regaleira, and more.

About this activity

Free cancellation
Cancel up to 24 hours in advance for a full refund
Reserve now & pay later
Keep your travel plans flexible — book your spot and pay nothing today.
Duration 7 hours
Check availability to see starting times.
Skip the ticket line
Live tour guide
English, Portuguese, Spanish
Pickup included
Please wait in your hotel lobby 10 minutes before your scheduled pickup time.
Private group


  • Visit Sintra's glorious garden of eden and its glamorous palaces
  • Stand at the westernmost point of mainland Europe
  • Stroll through the charming old town of Cascais at your own pace
  • Sit back and relax as you're driven from point to point
Full description

Discover the breathtaking Sintra, Cabo da Roca, and Cascais on a private car tour with a local guide. Explore the old royal summer home of Pena Palace, the enchanting gardens of Quinda da Regaleira, and the charming seaside town of Cascais along your way

Listen to stories that surround these beautiful locations nearby Lisbon, taking your time to walk through any or all sights.

Sit back and relax as you’re driven along the stunning coastline from Sintra to Cabo de Roca and Cascais. Be amazed by the cliffside views and the vast Atlantic Ocean.

  • Hotel pickup and drop-off
  • Bottled water
  • WiFi
  • Private tour
  • Transportation
  • Food and drinks
  • Entrance fees to monuments and attractions
  • Tips (optional)
Not suitable for
  • Wheelchair users
  • Hearing-impaired people

Select participants and date



Important information

What to bring

  • Comfortable shoes
  • Comfortable clothes
  • Face mask or protective covering

Not allowed

  • Food in the vehicle

Know before you go

  • A different drop-off location can be arranged, simply ask the tour guide
Customer reviews

Overall rating

5 /5

based on 12 reviews

Review summary

  • Guide
  • Transportation
  • Value for money
  • Service

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Eduardo took my husband and I around and it was the perfect day! He knew exactly where to go and when and we got to see everything we wanted without hours of waiting in line. (The lines as we left the palace were insane, so it really saved us!) His knowledge of the area and history was unsurpassed. We learned so much, had great food and thoroughly enjoyed our day. We'd book again with Eduardo in a heart beat!

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September 18, 2022

Awesome. Our guide, Hugo, was flexible, entertaining and well-informed. He tailored our tour to our interests and abilities and had impeccable English. Hugo is aware of busy locations and times and optimized our experience through his scheduling. A great option if you are looking for varied day trip from Lisbon.

April 17, 2022

WOW!!! Everything was exceptional starting from my personal tour guide - Eduardo. This guy is one of a kind! He was so informative, professional, funny and unique. I had this tour all by myself with Eduardo and there was never a time that I felt uncomfortable with him. The combination of places we visited was just astonishing and breath- taking! If you are adventurous, art enthusiast and nature lover then this tour is for you. Eduardo was also a great photographer (the best pictures I had for being a solo traveler) and he also suggested the best dish I ever had in my entire European tour “Squid on the Grill”! Wow the taste still lingers. So if you have spare time in Lisbon, go and book this tour with Eduardo and you’ll never regret it! More power to Heart & Soul Tours

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December 21, 2021

Product ID: 407283