Does anyone have names of tours guide for day tours in Madrid and Barcelona?
Yes, Rick Steves does, and he carefully hid them at the start of each chapter of his Spain guidebooks. For a low-budget option in Barcelona, the [Tourist Office](www.barcelonatoursme.cat) runs 2-hour walking tours for only 15 euros per person; show up by 9:15 to buy tickets for the 9:30 departure. There have been other local guide recommendations on this Forum, probably in the Spain section.
We have always had good results with guides from the TI. That is generally our first go to when want local tours.