Ok, it wasn't really that bad. Lisbon seems to have a really comprehensive public transportation system - Metro, trams, buses -- but we use our legs most of the time. Thanks to the Lonely Planet guide's suggestion, we stayed at the Pensao Globo in the Bairro Alto neighborhood for 4 nights. Bairro Alto is the "hip" neighborhood, with lots of cute shops, chic bars, and plenty of traditional restaurants.
We are spending time in each of these cities trying not to see as many sights/museums as possible, but to really get a feel for the city. Hence the walking.
I loved walking on the cobblestone streets and the tiled walkways. Here's a photo of some of the tile work in downtown Lisbon.
On our fourth day we trained out to Belem to grab custards from Pasteis de Belem. They did not disappoint. While we were there we encountered a series of military exercises. I grabbed a short video of them.
We ate well. Drank well. Slept well. Thank you Lisbon.