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Madrid's origins remain a mystery. Some say it was founded as a defensive site by the Arabs, others claim a Celtic origin, and others claim that the first inhabitants were the Romans. The Royal Palace, the Almudena, the Plaza Mayor, Puerta del Sol, or the Gran Via, a walk through Retiro Park, or visiting the Golden Triangle (its 3 museums), will ensure that you will not forget Madrid in a hurry.
In addition, you should consider taking your motorhome rental in Madrid in the vicinity, and you will see Aranjuez and Alcalá de Henares, which are World Heritage Sites, and cities like Toledo and Segovia.
Madrid is the heart of Spain, so from here, you can take the main national highways to all parts of Spain (A3, A4, A5, and A6). It also has highways and ring roads to get from one point to another in Madrid more quickly.
It has a train station, the world-famous Atocha, which has AVE and commuter trains to move around Madrid.
The international airport of Barajas is 20 minutes from the center, and you can go by bus, cab or metro.
The Madrid metro connects the whole city with different lines. It is the most common method of transportation and the most economical.
With all this, to rent a campervan in Madrid is a total adventure, since you have cities worth visiting very close by and very well connected.
Parking in Madrid is complicated. The Almendra central, which is the area inside the M-30, is regulated by the ORA (Parking Authorities), with limited parking. The easiest way is to leave your car in a paid parking lot or leave it in an outer neighborhood and go there by metro.
When you decide to rent a RV in Madrid and you do not want to spend a lot on parking it, you have Low Cost Parking Madrid, spread over some streets of Madrid and that allows you to park your vehicle from €5/day.