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Go to the train station ''Sete Rios'' (by train or by metro to ''Jardim Zoologico''). Leave the train station in direction of Campolide (South) and when you take the southern exit go straight (follow the street over some kind of bridge), turn right at the crossing and you will see the motorway in front of you. Go behind the bridge to the roundabout, you'll see the directions towards Sintra. Plenty of space and cars go not to fast. You will get on the IC19 going all the way to Sintra. If you don't get a direct lift try to hitch from exit to exit.

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* [http://www.brisa.pt/PresentationLayer/areasservico.aspx BRISA] has information on all the motorways in Portugal and their exits and petrol stations.