Since car parking is tricky (try near Museu do Mar), a good option is to park on the outskirts (eg at Praça de Touros) and take the BusCas minibus (214 699 100; per day/ticket €1.20/0.90) into town. It does a circular route via the centre every seven minutes from 7.30am to 9.20pm (to 10.20pm July to September) Monday to Thursday and Sunday, and to 12.20am on Friday and Saturday.
Free bikes are available from 8am to 7pm daily at various points around town, including Largo da Estação near the train station –you just have to show ID. Or you can rent them from Transrent (214 864 566; www.transrent.pt; basement level, Centro Comercial Cisne, Avenida Marginal), for €8.50 per day. Transrent also rents scooters/cars/motorbikes for €20/30/33 a day. There’s a bicycle path that runs the entire 8km length from Cascais to Guincho. Buses 405 and 415 go to Guincho (€2.40, 20 minutes, seven daily).
Often waiting at Jardim Visconde da Luz are horse carriages, which do half-hour trips to Boca do Inferno.
Near the bus station are numerous car-rental agencies including Ausocar (214 822 472; www.ausocar-rentacar.pt; loja D, Edificio Sol de Cascais, Avenida 25 de Abril 16). For a taxi, call 214 660 101.