See the whimsical palaces and Moorish castles of Sintra on a full-day tour from Lisbon, and discover why the picturesque town became a magnet for Romantic writers, poets, and artists. Following a pick-up at your hotel in Lisbon, drive to the fantastic Palace of Queluz, built in the 18th century as the official royal residence of King Dom Pedro IV of Portugal. Then, continue to Sintra to explore the picturesque streets and monuments, such as Sintra National Palace. See ornate fountains, churches, chapels, and shrines. Next, climb to the Moorish Castle. With walls that date back to the 8th and 9th centuries. Enjoy spectacular views of the surrounding forests and mountains, before going to Pena Palace to discover a remarkable mix of architectural styles inside and out. Depart Sintra for continental Europe’s westernmost point. Enjoy views of the Atlantic Ocean from Cabo da Roca. Continue along the coast road through picturesque towns such as Estoril and Cascais. See a unique beach, famous for its dunes and a sanctuary for surfing, windsurfing, and kite surfing. En route back to Lisbon, stop at the former fishing village of Cascais, and marvel at how it has become one of the most elegant destinations for the Portuguese and foreign elite, thanks to its boutiques, restaurants, hotels, and golden sand beaches.