An uninspiring new town sprawls at the foot of the fortress. From the bus station it’s about 1km north via Avenida Miguel Dantas (the N13) and Avenida dos Combatentes da Grande Guerra to the turismo. The train station is just east of Avenida Miguel Dantas.
There are free car parks just west of the fortresses, though they can fill to capacity at weekends. If you’re spending the night inside the town, you should be able to find free street parking within the fort.