Almeida Costa's academic passion was the History of Portuguese Law. Following in the footsteps of his mentor, Guilherme Braga da Cruz, he continued to revitalise historical-legal studies at the Escola de Coimbra [Coimbra School], advancing both teaching and research. He began by exploring the intricate history of medieval legal institutions, with the dissertations that elevated him to the pinnacle of his academic career exemplifying his dedication. In 1957, he published his first significant study, Origem da Enfiteuse no Direito Português [The Origin of the Enfiteuse in Portuguese Law], followed in 1961 by Raízes do Censo Consignativo [Roots of the Consignative Census], which contains insightful chapters on the history of medieval Portuguese credit.

Almeida Costa's scholarship extended into the development of modern Portuguese law, and his research on critical aspects of Portuguese legal thought is noteworthy. He advocated for an integrated view of law within history, rejecting the notion that legal history is merely a series of legal doctrines in gradual formation. For him, legal history is not solely about laws crystallised in dogmatic form; however, it does require independent examination without simply merging into general history. For Almeida Costa, law both influences and is influenced by historical conditions. Unlike scholars who rely solely on textual interpretation, he examined cultural contexts alongside legal sources, employing a method that placed equal emphasis on values and historical circumstances.

His meticulous work brought the history of Portuguese law into the 21st century, making it more accessible to students and practitioners. More than 25 years have passed since the first edition of História do Direito Português [History of Portuguese Law], which culminated in a fifth edition prepared with his disciple Rui de Figueiredo Marcos. This foundational text, with its elegant style, conceptual depth, and clear synthesis, revitalised the field with a fresh quality that it had not known in the past. As he believed, a work reflects its creator's spirit; História do Direito Português is very much an embodiment of Almeida Costa’s personality— an exceptional teacher who inspires not only knowledge but the pursuit of understanding.

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