The Nazaré Funicular connects the lower town (Praia) with the upper town (Sítio), climbing 110 metres up the cliff face in about three minutes. It has been running since 1889, making it one of the oldest funiculars in Portugal. The ride is short but the views from the open cars over the beach and out to sea are excellent.
You can also walk up via the steps beside the funicular — a steeper but more atmospheric option that passes old houses with nets and fish drying on the walls. But for a first ascent or if you are coming down in the heat, the funicular is the sensible choice. It runs frequently and the fare is modest.