Get picked up at your Lisbon hotel either in the morning or afternoon, depending on your choice, and get set for a half day of beauty and culture south of the city. On the way out of Lisbon, heading toward the Arrábida region, learn about the history and culture of the area.
Because this is a private tour, you and your travel companions can customize the 4,5-hour tour to your liking and preferences. Just tell the driver/guide. Or just go with the flow, seeing where the rocky mountains meet the sea and the bucolic vineyards where grapes become delicious wine. Spend some time on some the hidden beaches at Portinho, Galápos or Figueirinha.
Later, spend some time in Setúbal, the district capital, taking in its historic ambience and exploring its cobblestone streets and vibrant food market.
On the way back to Lisbon, stop in Azeitão to buy and/or sample some local pastries or cheese, and taste the famous local Moscatel fortified wine. Just before arriving to Lisbon, make one list stop at the monumental statue of Christ which overlooks this Portuguese capital and offers a stunning view.