Private Historical Tour of Madrid including the Royal Palace with an Official Guide

Discover in our historical tour of Madrid including the Royal Palace, how the reign of the Habsburg between the 16th and 17th Centuries has shaped Madrid. In this private tour we will walk around the old center of Madrid, Los Austrias.


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For our accessible historical tour of Madrid including the Royal Palace, we will pick you up from your hotel in Madrid or at any other agreed point in the city.

To start the tour, we will take a stroll along with Plaza Mayor. It used to be the heart of the city during the Habsburg dynasty. Here you can see the statue of Philip III. Then along Calle Mayor we will stop to visit three important sights. First, we stop at San Miguel Market a popular food market where you can sample some Spanish delicacies. That is to say, one of its entrances has a little ramp and the inside is totally flat. Then, we will find Plaza de la Villa, one of the main medieval centers of Madrid and where the city council used to be located. The last stop is San Nicolas Church, the oldest church in Madrid.

At the end of Calle Mayor and before arriving at the Royal Palace, we will visit La Almudena Cathedral. The cathedral was built as a crypt for the late wife of Alfonso XII (elevators and ramps available to access its halls). At the entrance of the Royal Palace, we will see the Plaza del Oriente, designed by Jose Bonaparte to highlight the Royal Palace. Besides, one of the statues here is of Philip IV. It is the first statue in the world supported on the back legs of a horse, designed by Velázquez and sculpted by Pedro Tacca with the help of Galileo Galilei.

Finally, the tour finishes at the Royal Palace of Madrid, one of the biggest and best-preserved palaces in the world. The Royal Palace has ramps and elevators to access all of its halls and has accessible bathrooms as well.

Enjoy this journey to the past to discover old Madrid and the cultural influences that the Austria reign has had on the Spanish capital.

Highlights of the Accessible Historical Tour of Madrid including Royal Palace:

  • Visit picturesque Plaza Mayor
  • Enjoy Spanish gastronomy at San Miguel Market
  • Get a glimpse of medieval Madrid at Plaza de la Villa
  • Visit San Nicolas Church and La Almudena Cathedral
  • Stroll through Plaza del Oriente
  • Explore the Royal Palace
  • Private tour with our official tour guide from Madrid
  • Fully guided walking tour of Madrid de los Austrias and the Royal Palace
  • Skip-the-line entry and guided tour of the Royal Palace
  • Optional hotel pick-up and/or drop off with an accessible vehicle adapted with ramp access and tie-down system

This tour does not require a high amount of walking or wheeling, and it can also be tailor-made based on each person preferences. The itinerary also avoids steps and it follows a mostly flat path along the Tour.

  • Meeting point: Hotel Pick-up or Other
  • Starting time: Flexible
  • Duration: 4 Hours
  • Return: We recommend allowing time for a Lunch break to sample typical Madrid foods and wine at one of our suggested Restaurants, equipped with an adapted toilet
  • Optional door-to-door accessible hotel transportation can be arranged (Extra cost).


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