Madrid has an efficient metro system that connects most tourist destinations, charging around €1.50 per trip. Taxis are also readily available, with starting rates of €2.50 and fares depending on the destination. Walking is an excellent way to explore the central areas.
If you have more time, visit the sprawling Retiro Park or explore the neighborhood of La Latina for food and nightlife. For a shorter trip, consider skipping the palace or museum and spend more time strolling around the historic district. Remember to take breaks during siesta hours and bring a water bottle for hot summer days.