Câmara de Lobos
Câmara de Lobos was the first island residence (1420-1424) of João Gonçalves Zarco, the explorer who is credited with the discovery of Madeira. It was named after the monk seals that were found there. Its natural harbour provided protection for ships and it has a long history as a fishing port. Today, it is the second largest population centre on the island. To the north, and at a higher elevation, is Estreito de Câmara de Lobos, now a town in its own right, which is an important centre of wine production.
Cabo Girão, there are plenty of restaurants, bars and souvenir shops.
Around 29th June, the town is usually elaborately decorated and has a number of events around to celebrate the Feast of Saint Peter. Estreito de Câmara de Lobos holds a festival to celebrate the wine harvest, usually in early September.
There's a seaside walk from Câmara de Lobos to the Lido area of Funchal via Praia Formosa - though it is steep in places. If you don't want to walk the whole way, you can take the HF 1 bus from Funchal to its terminus at Ponta Laranjeira and follow the (temporarily) less-scenic road past the cement works until you join the coastal path. A number of different Rodoeste buses link Funchal and Câmara de Lobos relatively frequently - check their timetables for details.
There is a reasonable amount of public parking - but be aware that people offering to take your parking money may not have any official status.