You can visit two of Portugal's most charming towns on a day trip from Lisbon that goes beyond the city to explore the Sintra Mountains, a place notoriously difficult to reach independently. You'll tour Sintra's Pena National Palace and the town's UNESCO-listed historic center, and than travel to the Atlantic coast to see Cascais and Cabo da Roca, the westernmost point in continental Europe. Scroll towards the "What to Expect" section for more information on the program.