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Sintra - How to avoid steep uphill walking

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What method do you recommend for reaching Pena Palace with the least uphill walking?
I have read trip reports about the steep climb , and would like to know the best way to avoid it. My husband and I are older, and want to save our feet and knees for touring the palace itself. If we take the hop on-hop off bus, does it take us to the top? or is there still a steep walk up to the palace after we get off the bus? Can we get a taxi in town that will take us up higher? Are there tours, or private guides, who can take us closer to the top?

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