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Underground carpark, pay to park (notes/coins), easy access into the Old Town.
Av. dos Descobrimentos, 8600-688 Lagos
Under the crazy golf, pay to park (notes/coins), good access for walking into the western side of the Old Town for Casa do Prego, The Garden etc.
Estr. da Ponta da Piedade, 8600-586 Lagos
Off-road unmade parking area, free parking, can be a bit of a squeeze but good for walking into the top end of the Old Town.
R. Infante de Sagres 104, 8600-686 Lagos
Free parking behind the Marina. Just hop across the pedestrian bridge to access the Old Town. There's also a bigger carpark just to the east nearer the roundabout.
Largo da República CP, 8600-302 Lagos
Above Batata (Potato) Beach - pay to park in season, small but great views!
Av. dos Descobrimentos, 8600-465 Lagos
Free parking at most beaches - Porto de Mos, Camilo, Dona Ana, everywhere along Meia Praia and at the headland of Ponta da Piedade in the new 2024 carpark (when it's finished!) for those sunsets