As I wrote in my review of the Pena palace, we chose to come back to Sintra by walking down the "pedastrian Route" which starts not far from the palace, and goes down, via Vila Sassetti into Sintra.
In one of the pictures I attach to the Pena palace review (I can't seem to find a way to attach photos here... will look for it thereafter) , I have showed a scan of the map for the start of this walk (The pedestrian Route - you can get a map of it too), with explanation what we did and what one should do... (signage is not great...)
The whole walking path is nice, going through the woods, and then through the colorful and waterful gardens of the Vila - very nice and worth a visit; It took us a little over an hour; it has a few steps / stairs along the route, but still in my mind it is an easy walk (we went down... not up)
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