Setúbal is 50 kilometres south of Lisbon and easily reached by train or car. The Fertagus suburban train runs from Lisbon Roma-Areeiro and Entrecampos directly to Setúbal in about 50 minutes, with departures every half-hour during the day. Trains cross the spectacular 25 de Abril bridge over the Tagus on a lower deck below the road traffic — sit on the right for the best views going south.
By road, take the A2 motorway south from Lisbon (toll, about 35 minutes). Buses run by TST also connect Lisbon's Praça de Espanha with Setúbal but the train is faster and more comfortable. From Lisbon airport, allow about an hour by taxi or Uber.
The car-and-passenger ferry to Tróia leaves from the docks at the eastern end of Avenida Luísa Todi roughly every 30 minutes; crossing time is about 20 minutes.