Once you arrive at Cacilhas by ferry, most of the old town is walkable. The Elevador Panorâmico da Boca do Vento — a public outdoor elevator — connects the riverside to the upper town in about a minute and saves a steep climb. A short walk along the upper esplanade leads to the castle ruins and viewpoints overlooking Lisbon.
For Cristo Rei, take bus 101 from the Cacilhas ferry terminal. The ride takes around ten minutes. There is also a small car park at the sanctuary if you are driving.
Costa da Caparica is best reached by bus from the Cacilhas terminal (TST bus 135) or by taking the Transtejo ferry to Trafaria and connecting from there. In summer, a small train called the Comboio de Praia runs along the beachfront from the town of Costa da Caparica southward, stopping at numbered beach accesses (praias) along the way — useful for reaching quieter stretches.