In order to reach the Cabo da Roca cape you first need to go with train from Lisbon to Sintra.Sintra can be reached easily by train from Lisbon. You should arrive to Santa Apolónia train station and take the train to Azambuja. When you arruive to the train stop called Braço de Prata (only 5 minutes ride) you should get in the train in direction Sintra. The ride takes approx. 1h 10 minutes. When you arrive to Sintra train station you need to take the bus 403 that will take you to the Cabo da Roca cape. The cape is only 18km away from Sintra and 42 km from Lisbon.