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The place chosen to house the museum was the former Royal Riding School of Belém.
The Museum has a collection of ceremonial vehicles used for processions and promenades between the 17th and 19th centuries, which is unique in the world. These vehicles include: coaches, berlins, carriages, chaises, litters, sedan chairs and children’s prams. Completing the collection is a set of harnesses belonging to the vehicles, cavalry harnesses, carriage accessories, uniforms for processions and for coach attendants, musical instruments, a section on armoury and a collection of oil portraits of the kings and queens of the Bragança dynasty.