We had printed port information from Cruisecritic from previous passengers it was a great help try it! You can walk from the ship into town and explore plenty of shops and history.
Not the best port we visited we purchased shuttle bus tickets at 10$ each which took us into town and then you could hop off and rejoin to go to Belem it was worth it because it was quite a long way.
Followed instructions from previous passengers and walked from ship through the town to the beach. It was lovely with bars and a long promenade well worth a visit.
Very easy to get into town, we just wandered around with plenty of parks to visit and you can walk to the cable car without having to book an excursion then go up and go on the sledges before returning either by taxi or walking (quite a long way but downhill) but get off early to avoid the queues.
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