Start at the Fort above the town. Tickets cost 500$ and include a map and pamphlet guide for the town.
From the fort, follow the path downhill past the ruined cathedral to arrive at the seashore. You can duck down to the beach before continuing on to the main square. The monument here is the Pelourinho ou picota and was a place of execution. Further along the Rua Banana leads up hill. This is Africa's oldest European-built street and leads to the chapel Igreja Nossa Senhora do RoÅario.