We didn't visit the villa itself, but took the footpath that goes through the grounds up to the Pena Palace and loved every step! The footpath is incredibly well designed to get you up the hillside without too much effort and the grounds and landscaping are so beautiful that you're distracted from the climb and reach the top before you know it (less than an hour from the main part of town)! The path was very well marked and easy to follow, and has restrooms and a snack bar along the way! Definitely a wonderful way to avoid the insane car traffic and reach the palace (or Moorish Castle) in a much happier state of mind!
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