Lisbon in 1 Day for Couples - Guided visits to Palácio Nacional de Queluz, Palácio Nacional da Pena (Sintra) and Palácio Nacional de Mafra
In Collaboration with abc Travel. Updated on February 5, 2026.
Private full‑day drive visiting the historic royal palaces around Lisbon: Queluz, Pena (Sintra) and Mafra. Luxury private vehicle, guided visits and a romantic lunch in Sintra. Perfect for couples who love history, architecture and scenic moments.
This itinerary was created in collaboration with abc Travel, inspired by the tour The Royal Route - Private Tour. Please check the tour information during your booking process.
Highlights
- Guided visits to Palácio Nacional de Queluz, Palácio Nacional da Pena (Sintra) and Palácio Nacional de Mafra
- Private vehicle transfers and hotel pickup in Lisbon
- Romantic lunch in Sintra and scenic viewpoints inside Pena Park
Itinerary
Day 1
Full day private luxury tour visiting the Royal Palaces around Lisbon. Start: central Lisbon pickup. Note: times are approximate and will be adjusted for traffic and guest preferences.
Hotel pickup — Central Lisbon (Rossio Square meeting point)
Meet your private guide/driver for a short welcome, itinerary run‑through and comfort check. If you provided your hotel address you'll be collected there; Rossio is the central meeting fallback.
Tips from local experts:
- If you prefer pickup at your hotel, confirm the exact address in advance to avoid meeting at the public square.
- Have a light layer ready — mornings in May can be cool in Lisbon before the sun warms up.
- Keep passport/ID in the guide's view if you want them to pre-buy or validate tickets in advance.
Private transfer to Palácio Nacional de Queluz
Comfortable private drive to Queluz (approx. 20–30 minutes depending on traffic). Brief orientation en route about the palace's history.
Tips from local experts:
- Seat cushions and bottled water will be provided in the vehicle for comfort.
- Ask your guide for a quick story about the Portuguese court to set the scene before arrival — great for romantic photo ops.
- Use this short transfer to top up sunscreen and check camera batteries; Queluz gardens offer many sheltered spots for portraits.
Visit — Palácio Nacional de Queluz
Guided tour of the neoclassical/rococo palace interiors and the formal gardens — a 2‑hour deep dive into royal life and intimate garden strolls.
Tips from local experts:
- For a romantic shot, head with your guide to the palace terraces overlooking the gardens — best light is mid‑morning.
- Parts of the palace have steps; if you prefer easier paths ask the guide for a slightly gentler garden route.
- Bring a small scarf or wrap for cooler indoor rooms; the guided tour moves at a relaxed pace suited to couples.
Transfer — Queluz to Sintra
Private drive from Queluz to Sintra (approx. 20–30 minutes). Your guide can park near the historic center and escort you to lunch.
Tips from local experts:
- If you’d like a quieter table, tell the guide to request a terrace or corner seat with a view when they call ahead.
- Use the transfer to request any dietary preferences so the kitchen can prepare local specialities accordingly.
- Keep your camera handy — the approach to Sintra passes scenic hills that hint at the castle vistas ahead.
Lunch — Tascantiga (Sintra)
A cozy, locally loved spot for tapas and light Portuguese dishes — informal romantic lunch to recharge before Pena Palace.
Tips from local experts:
- Order the local petiscos (tapas) to share — perfect for a couples' meal and tasting several small dishes.
- Reserve or ask the guide to reserve a window/terrace table for the best ambiance.
- The kitchen is accommodating: ask for smaller portions or vegetarian options if preferred.
Visit — Palácio Nacional da Pena (Park & Palace)
Guided visit through Pena Palace's colourful terraces, ornate rooms and extensive romantic gardens with sweeping coastal and mountain views. Time to explore the best viewpoints.
Tips from local experts:
- For intimate photos, ask the guide to lead you to the less crowded terraces and the viewpoint toward Cabo da Roca.
- Wear comfortable shoes — some garden paths are uneven, but the pace is relaxed and the views reward the stroll.
- Buy tickets in advance or have the guide handle entrance to avoid queues; peak times fill quickly even in spring.
Transfer — Sintra to Palácio Nacional de Mafra
Private drive toward Mafra (approx. 35–45 minutes). Use this time for a short rest and light refreshments from the vehicle supply.
Tips from local experts:
- Ask the driver to choose the scenic route when traffic allows — it’s a pleasant stretch for a quiet moment together.
- If you’d like a surprise, ask the guide to arrange a small bottle of Portuguese sparkling wine in the vehicle for a toast en route.
- Stretch your legs before arriving; the Mafra visit includes a large complex and long interior galleries to explore together.
Visit — Palácio Nacional de Mafra & Convent
Explore the monumental baroque palace and convent complex, including the basilica, royal apartments and the historic library — a grand finale to the royal route.
Tips from local experts:
- Don’t miss the library — it’s an atmospheric spot for a quiet shared moment and great photos by golden light.
- The complex is large; follow the guide’s quieter route to avoid any tour group crowds and enjoy more intimate spaces.
- There are steps and uneven surfaces in places — opt for slow, steady pacing and take advantage of benches in the cloister for breaks.
Return transfer to Lisbon — Drop‑off
Private drive back to central Lisbon (approx. 40–50 minutes). Drop‑off at your hotel or a central location (Rossio) as preferred.
Tips from local experts:
- Let your guide know if you’d like a final stop for photos or a quick seaside detour on the way back.
- If you want to extend the day for a sunset drink in Lisbon, request a recommended rooftop and the guide can drop you there.
- Relax on the return — your guide can suggest a quiet evening plan for a romantic dinner in Lisbon if you need recommendations.
Itinerary Attributes
| Days | 1 |
| Highlights | 3 |
| Season | - |
| Month | - |
| Persona | Couples |
| Transfers | 4 |
| Restaurants | 1 |
| Total Activities | 5 |
| Total Places | 5 |
| Activities Types | Hotel, Transfer, Attraction, Restaurant |
