Cape St. Vincent was already sacred ground in Neolithic times, as standing menhirs in the neighborhood attest. The ancient Greeks called it Ophiussa (Land of Serpents), inhabited by the Oestriminis and dedicated here a temple to Heracles. The Romans called it Promontorium Sacrum (or Holy Promontory). Strabo, in his Geography calls this cape the most western tip of the known world and reports the place was considered magical. Common people believed the sun sank here hissing into the ocean, marking the edge of their world, which Strabo qualifies as "common and vulgar reports" and attributes to Posidonius

According to legend, the name of this cape is linked to the story of a martyred fourth-century Iberian deacon St. Vincent whose body was brought ashore here. A shrine was erected over his grave; according to the Arab geographer Al-Idrisi, it was always guarded by ravens and is therefore named by him كنيسة الغراب (Kanīsah al-Ghurāb, meaning "Church of the Raven"). King Afonso Henriques (1139–1185) had the body of the saint exhumed in 1173 and brought it by ship to Lisbon, still accompanied by the ravens. This transfer of the relics is depicted on the coat of arms of Lisbon. All existing buildings—including the Vila do Infante of Henry the Navigator—fell into ruins because of the Lisbon earthquake of 1755. The Franciscan friars who cared for the shrine stayed on until 1834, when all monasteries were disbanded in Portugal.

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