Suggested steps for driving in Portugal:

1.  Rent a little car, like a SmartCar.

2.  Don't worry about GPS, Google directions, or even a map.

3.  Make sure you have an able co-pilot.

4.  Just take the highway in the general direction you're heading, and wait until you start seeing signs for the name of the town you're trying to find.

5.  Try to follow those signs, if you're quick enough to figure out which direction they're pointing to at the various round-abouts.

6.  Get a little bit lost in each of the towns you're visiting, but eventually end up in the main central square and thus orient yourself.

7.  Repeat.

We were driving out of Barcelos over a bridge just barely two car-widths wide.
"We came into town from up that way, on the other side of the river.  You realize that, right?"
"Yeah, but some of those roads were one-way, so there's no good way to retrace our steps.  I think going this way will work."
"O...k... you can only turn right up ahead here."
"Yeah... hmm... does this road lead anywhere?"
It seemed like one of the only ways to continue was a steep alleyway that led up and up, winding between narrow stone walls.  "Meh, let's try this."
Miraculously, this tiny alley that looked like it led nowhere spilled right out onto a major street, and the very next round-about had a huge sign for the highway we were looking for.
Monika realized she'd have no reason to get upset at me for getting lost this time.  "I can't believe this."