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Walking can be a great way to explore most of the sites, however, there are some significant inclines and, where these occur, we recommend use of the trams and funicular system where available. Not only do they save your legs, they are also integral to the ambience of the city as well as providing the occasional stunning view.
There is an efficient metro system with good coverage and buses and taxis (generally beige Mercedes) are plentiful. Direct trains to Sintra and Estoril run from Rossio and Cais do Sodré stations respectively and take about 45 minutes.