In this post you will find some tips to make your trip to Madrid the best possible experience.
If you arrive to Adolfo Suárez Madrid Barajas airport, you can choose from several options to get to Madrid city center, and to come back to it at the end of your stay, that I explain at the post Airport Transfers. In you arrive by train to any of the 2 main train stations (Chamartín or Atocha), you have direct access to the metro network. If you arrive by car, you should have in mind where you are staying, because there is parking and access restrictions in many parts of the city, and you can get a fine easily unless you park in a public parking.
If you come for a few days I would recommend staying in the city center (where the historical neighborhoods are placed), and walk the city. You can ride the subway or bus at any moment for a small fee if you are going to any place far from those neighborhoods.
If you need additional help or more detailed information to organize your trip, do not hesitate to contact me at email@example.com.