We walked to Palácio da Pena through Pena park from old Sintra and it took us a while (we had 3 children in tow). The path up to the park is also beautiful, very lush (but also steep). There was a huge line (cue) to buy tickets to the park, so I recommend purchasing them online. Once we reached the palace again there was a big line to get in. All in all I think we spent more time cueing than actually inside the park/palace. By then the kids were really tired and had no interest in exploring the palace.
In hindsight we would’ve bought tickets online to the park only (you can still walk outside the palace) instead of the combined ticket (park & palace). A beautiful place but get there early in order to enjoy it.
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