The boat slips away from the sheltered cove at Praia do Carvoeiro and the cliffs take on scale—sheer, honey-colored walls rising like stage sets, caves punched through by years of wind and wave. You feel the Atlantic pull at the hull; sunlight skims the water and then falls through the gash in Algar de Benagil, turning that tiny beach into a cathedral of light. For three hours the coastline alternates between dramatic panoramas from the road and intimate moments below the cliff edge, where sea and stone argue over which will wear down the other first.