Your day begins at a central Lisbon meeting point in front of Hard Rock Cafe Lisboa on Av. da Liberdade. Look for your guide holding a sign, then settle into the air-conditioned minibus for the scenic drive west toward the Atlantic coast.

Pull into the sun-drenched seaside village of Cascais and enjoy free time to stretch your legs along the bay. Grab a coffee or pastry at a marina café, or wander the sandy beaches of this former royal retreat.

Continue along the rugged Guincho coastal road to Cabo da Roca, the westernmost point of mainland Europe. Free time at the lighthouse lets you photograph cliffs plunging into the Atlantic below and stand at the literal edge of the continent.

Travel deeper into Sintra-Cascais Natural Park to reach Azenhas do Mar, a whitewashed cliff-side village perched above a natural ocean pool. Take in the cliffside viewpoint where pastel houses cling to sheer rock above the Atlantic.

Roll into Sintra Center for free time among cobblestone streets, pastel facades, and pastry shops. Find a local spot for lunch at your own expense, or ask your guide for recommendations on where to try the famous travesseiros pastry.

Step onto the sun-soaked terraces of Pena Palace, a 19th-century palace painted in red and yellow with Moorish, Gothic, and Manueline influences. Stroll the forested gardens to hilltop lookouts framing the Moorish Castle and endless expanses of trees and water.

Cruise back to Lisbon after a full day of exploring, arriving at the same central meeting point on Av. da Liberdade. Ask your guide for dinner recommendations before heading off to enjoy your evening.