After having visited the Palace and Park of Pena, your legs are likely to be done. Even if you arrived at the top of the mountain in a car, visiting these two attractions entails a lot of walking. And then you’ll look at the Castelo dos Mouros, at the end of yet another long path, with towers reaching into the sky, and the steps. All of those steps! On one hand: nope, forget it. On the other hand: you’re already here. So you might as well.