If you have limited time and you'd like to see some of the attractions beyond Sintra-Vila, Sight Sintra rents out tiny two-person buggies that guide you by GPS along one of three different routes. The most popular takes you to Castelo dos Mouros and Palácio Nacional da Pena, among other places. It's located around the corner from the Sintra train station.

You can also create your own itinerary, and hire a buggy for €25 per hour.