Car rental from Haarlem to The Hague

The major car rental players (Europcar, Sixt, Avis, Hertz, etc.) are located in/near both cities. In Haarlem, all are located a "taxi-ride" from Haarlem Centraal. In The Hague, both Sixt and Hertz are located adjacent to Den Haag Central, while Avis is 10+ blocks away on Theresiastraat. Perhaps Hertz may be the most convenient for both. I'd not suggest dropping in Delft as you'll get more train options departing from The Hague (and Delft is a short tram ride away on the #1 tram).

you could also rent and return at the same location - Haarlem and den Haag/The Hague are very close to each other by train, if that would simplify things.

I assume you want the car to visit bulb fields and/or Keukenhof? Bicycle also works well, and much easier to stop at a scenic view.

You get very good views of the colourful fields from the Haarlem/Den Haag train.

Given that Haarlem is very close to Schiphol you could also consider renting a car there.

But, where are you going and what are your plans? There is excellent public transport almost everywhere in the Netherlands, so why not just take the bus to Lisse? And if you want to see tulip fields, renting a bike seems like good option that would allow you to stop anywhere you like and enjoy the view.

Thanks for the replies---you've given me some options to consider. We'll have already spent a few days in Amsterdam and are slowly working our way South, ending up in Delft where we plan to take the train on to Brussels. We do want the flexibility of having a car to see the tulip fields and because I have bad knees, I cannot bicycle the route. I was hoping there might be local car rental companies, but it sounds like the Netherlands has just the usual, major players.

We do want the flexibility of having a car to see the tulip fields and
because I have bad knees, I cannot bicycle the route.

If your knees are bad, rent an electric bike. Using an electric bike puts less strain on your knees than walking does. Or an electric scooter if your knees are really bad. They will also give you more flexibility than a car. Having a car means you can drive past the tulip fields, but you will mostly not be able to stop if you want to as the roads are narrow with no room for parking. With a bike or scooter however, you can stop anywhere you want.

I thought of the electric bike after I posted, but the scooter sounds appealing! Do I need a special driver's license for a scooter, though?

It depends a bit on what the scooter looks like and how fast it can go, but usually a regular car license is enough.

Thanks very much!