Avenida Marginal ("Marginal Avenue"), also known as Estrada Nacional 6 ("EN6"), is a coastal road connecting Cascais to Lisbon, where the Tagus river and the Atlantic Ocean meet. It pretty much follows the tracks of the Cascais rail road.
This is the preferred rout if you intend to witness amazing views in your way back from Cascais to Lisbon, avoiding traffic and the busy freeway.
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