Walk to the Pena Palace
Normally when you get to Sintra you take one of the buses that go up to the Pena Palace and the Moorish Castle. But I got the bright idea to convince the group to walk, of course, I didn't know the exact path and nothing was further from my intention to almost kill us (anyone can do the exercise, but my group was not very motivated). Yes, the effort was worth it to us all because the trip was spectacular. For hikers, I really recommend walking up, the palace is beautiful and the castle too, but really the most impressive thing was the vegetation of Sintra.