Within Sintra, the Scotturb bus 434 loops from the railway station to the National Palace, up to the Moorish Castle and Pena Palace, and back — it runs frequently and is the standard way to reach the hilltop attractions without a car or a steep climb. Bus 435 connects the station to Quinta da Regaleira and Monserrate Palace. A combined day pass is available and good value if you plan to use the bus multiple times.
The historic centre is small and walkable, but the palaces on the ridge are a serious climb on foot. The road from town to Pena Palace gains around 300 metres of elevation. Tuk-tuks and horse-drawn carriages also operate from the station for those who prefer not to take the bus. For the western palaces (Monserrate, Convento dos Capuchos), a car or taxi is more practical.