There is a bus service from Cascais station to Sintra station. From there, take a taxi to Pena Castle. Queues should be shorter at this time of the year but I would recommend taking a guide to ensure that you can jump the queues.

My advise: purchase tickets for both Pena and Moorish Castle from the internet. get the first bus 434 from Sintra (at 9:00). Visit the Pena Park and Palace. Walk towards the Moorish Castle Take the 434 bus from the Moorish castle to return to Sintra. I did this 10 days ago and I managed to avoid queues and minimize waiting time. Regarding walking: There's no point in going there and staying outside, you can't see anything from outside. You can minimize walking by not walking in the Pena Park, and only visit the Palace. However, my opinion is that the Park is better than the Palace Now, in the Moorish Castle you have to climb some steps to get all the views it has to offer.

Hi Mark, Thats a little difficult considering the sheer size of the palaces and distance between them. The easiest one though is by taking a tuk tuk from Sintra station to Pena palace and walking down to Moorish caste. Its about 10-15mins of walk. Keep in mind that within this palace and castle there will be walking involved. There are tuk tuk’s available at most of the sites, so to reduce walk it can be a good option. Plus it saves you time for standing in queues for either hop on hop offs or 434 bus.