Originally Posted by
lostfly
Yes, we have valid passports that don't require visa.
I am also considering renting a car. The cost for a single day seems to be about the same of going and returning with a cab. I like to drive at foreign cities and it is more flexible and convenient in some ways. We can also take the hold baggage with us. But the question is how bad/complicated/expensive is the parking at Madrid?
Thanks again.
Renting a car is not a good idea, it will take you more time (considering the pick up and return process) than public transportation and it really isn't needed. You can take the Cercanías train and be in the centre very quickly and cheaply. Hold baggage will be checked through and you could use the left-luggage facilities at T4 for any cabin luggage.
I don't understand dcisneros' post above. The whole Recoletos-Prado axis, for instance, is gorgeous and very easily reached from the airport.