We did it on our own in September 2024. Once we got to Sintra we took an Uber to the Moorish Castle. We tried the bus first but there were such long lines we around have been waiting for an hour or more. To save time, I've cut and pasted that day from my Trip Report:
We had some momentary confusion when we went to catch the train. There are two Rossio stations, the Metro do Rossio which is the subway, and Lisboa Rossio which is the actual train. They’re close to each other but different. We couldn’t find an employee to ask and stumbled and fumbled for 5-10 minutes before we figured out that we were in the wrong station.
After a 40-minute ride, you’re in tourism central. TukTuks, cabs, guides all converging to offer you the ‘best price’ to get you wherever you want to go. The TukTuk guy said it was €15pp to Pena Palace which either means he took us for idiot tourists, or the RS guidebook is wrong. I believe it says €5. We decided on the National Palace in Sintra first. It was surprisingly interesting and worth the €13 ticket for the 1.5 hours we spent there. We bought our tickets at the Tourist Info office across the street thinking we’d save ourselves a slow line at the Palace. As it turns out there was no line and hardly anybody in the palace. I’d started to appreciate the tiled buildings in Lisbon but it’s the blue and white tiles depicting scenery that I first encountered in the Palace that would become my favourite use of the tiles throughout the trip.
We then headed for the bus stop which gets you to the top for about €5, but busses were only every 30 minutes and the lines so long that we would have waited 2-3 buses. We negotiated with a TukTuk driver but he was firm at €15pp. We decided on Uber for a total price of €14 up and then caught another for €9 for the ride down. I’m shocked that more people didn’t consider this because the wait for the bus down was as long as it was for the up portion. To be honest we threw around the idea of Uber from Lisbon, but for some reason we chose the train.
The Moorish Castle https://www.parquesdesintra.pt/en/parks-monuments/the-moorish-castle/ seems to get lukewarm reviews on this Forum and in the guidebook, but it was the highlight. It’s about a 10-minute fairy tale walk from the ticket kiosk through a lushly green forest to the castle and walls that you need to see to appreciate. I would advise a good treaded hiker, a reasonable amount of fitness, and to be aware that the trails and walls could be a challenge for the mobility challenged with a total of 500 steps to get to the top lookout point. There are also no railings on the ramparts, and they are narrow and uneven in spots and Carla chose not to try.
From there we walked uphill for 10 minutes along an uneven dirt trail through the forest to get to the ticket kiosk for Pena Palace. We weren’t interested in the insides of the Palace and just wanted to visit the free terraces outside. Every book warns about the steep climb from the ticket booth to the palace, but I didn’t think it was that bad. It was uphill and took about 7-8 minutes. There is a shuttle bus for €2.85 that you can take up as well. Liked, but didn’t love the palace, and we weren’t impressed with the signage. We saw no signage on how to visit the terraces, but I recalled reading that you entered through the gift shop and went up some stairs and through a cafeteria, which is correct. Even the entry for the interior wasn’t clear, we watched people confused of where to go. Mobility alert. It had started to rain while we were there and the walk down on wet cobblestones was very slippery in spots. Probably a good reason to take the shuttle down.*