From the train station it’s a 1km walk into Sintra-Vila, or you can grab the hop-on, hop-off bus 435, which goes from the station to Sintra-Vila (€5). This bus continues on to Quinta da Regaleira, and Palácio and Parque de Monserrate.
A handy Scotturb (www.scotturb.com) bus for accessing the Castelo dos Mouros is bus 434 (€6.90), which runs frequently from the train station via Sintra-Vila to the castle (10 minutes), Palácio Nacional da Pena (15 minutes) and back. One ticket gives you hop-on, hop-off access (in one direction; no backtracking).
You can also purchase a daily €12 hop-on, hop-off Scotturb ticket that works across the entire network and is valid in any direction until midnight. Be prepared to wait – even in winter the bus lines outside major attractions can be long.
Sintra's city government took drastic steps in late 2018 to relieve the traffic congestion in the historic centre – the area is now restricted to residents, city buses, emergency and commercial vehicles and taxis. Parking is limited around town but 1000 new spaces were being planned at time of research in addition to the reconfiguration of traffic flow and entry points. For parking near town, there’s a free car park below Sintra-Vila; follow the signs by the câmara municipal (town hall) in Estefânia. Alternatively, park at Portela de Sintra Interface and take the bus. For detailed parking info in English, see www.cm-sintra.pt/car-parking-in-sintra.
Taxis are available at the train station or opposite Sintra-Vila post office. They are metered – flag fall is €3.25 during the week and €3.90 on weekends. Count on about €8 one way to Palácio Nacional da Pena from central Sintra-Vila; if you want the driver to wait, the meter runs at €15 per hour; expect to pay about €35 for a return visit to Convento dos Capuchos (Uber is a far better deal between €8 and €12 one way from Palácio Nacional de Sintra, for example).
From 19 June to 24 September, Sintra’s restored electric tram, the Elétrico de Sintra, offers access to the coast, running from Rua Alves Roçadas near Portela de Sintra train station and arriving at Praia das Maçãs 45 minutes later. In summer, trains depart hourly from 10.10am to 6pm (from 9.20am on weekends). The last tram back leaves the beach at 7pm. In 2018, the train returned for winter hours as well.
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 sites. 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.