Begin your journey at Calle de Vergara 3, located in the historic center of Madrid. From here, head to the magnificent Teatro Real, one of Europe’s most prestigious opera houses. Just steps away stands the impressive Royal Palace of Madrid, the largest functioning royal palace in Europe. Learn about the Bourbon dynasty, the old Alcázar that once stood here, and the evolution of the Spanish monarchy.

Across from the palace, admire the Almudena Cathedral, whose construction lasted over a century and blends neoclassical, neo-Gothic, and modern elements. Hear about the Almudena Crypt and enjoy spectacular panoramic views of the Cathedral and the Royal Palace together — one of the most photographed scenes in the city.

Continue to the remains of the Arab Wall, dating back to the 9th century when Madrid was founded as a Muslim fortress. Discover the city’s Islamic origins before visiting the Church of San Nicolás, one of Madrid’s oldest surviving buildings. In Plaza Ramales, learn about the history of famous Spanish painter Velázquez, who was once buried nearby.

As you enter the historic district known as “Madrid de los Austrias,” drive along Calle Mayor toward Plaza de la Villa, the medieval administrative center of the city. Soon after, reach the iconic Plaza Mayor, a grand square that has witnessed royal ceremonies, markets, bullfights, and even trials during the Spanish Inquisition. Nearby, see the lively San Miguel Market and Casa Botín, officially recognized as the oldest restaurant in the world.

Continue through La Latina, one of Madrid’s most traditional neighborhoods. Explore Cava Baja, famous for its gastronomy and historic taverns, and pass by the Market of La Cebada. Admire the Parish of San Andrés and the magnificent Basilica of San Francisco el Grande, home to one of the largest domes in Europe. Also see the historic Hospital of San Francisco de Asís and the monumental Puerta de Toledo, built to commemorate Spain’s independence.

Heading toward the Art District, enter the elegant Paseo del Prado area. Along the way, see the Reina Sofía Museum, home to Picasso’s “Guernica,” and the historic Atocha Train Station with its tropical indoor garden. Pass the Royal Botanical Garden and the world-famous Prado Museum, which houses masterpieces by Velázquez, Goya, and El Greco.

The experience concludes as you return toward the charming Barrio de las Letras, the literary quarter once home to great writers like Cervantes and Lope de Vega, finishing back at Calle de Vergara.