Sao Vicente is a small town nestled inbetween two cliffs/mountains. Directly on the shore lies only one street with some shops and restaurants. If you drive past the cliffs inland, you are immediatly in the city centre of this beautiful town.
We parked at a parking lot near the intersection of th VE4 and Est Dom Joao V (the parking has no name on Google Maps) and walked through the small city center.
As a tip (Warning: complicated directions incoming;)): if you follow the Rua do Cemitério and then walk up the steep following street, you get to a staircase that leads to the winding street which leads up the mountain. If you follow that street up a little further always keeping right, then follow the Estr. da Vigia, you will reach a truly amazing viewpoint with stunning views over the city and its backdrop! (On Maps.me the viewpoint is called Miradouro da Vigia, on Google Maps its not figured).
The scenery kind of gave us South America vibes. But since we have never actually been to South America this might only be our impression.
Sao Vicente is also the home of several caves, but unfortunately they were closed when we visited.