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getting to Madurodam from Haarlem

Will be arriving early for the 21 day BOE tour and would like to visit Madurdam.

Any suggestions on how to get there from Haarlem without renting a car?

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Train to Den Haag (The Hague) Centraal station (half-hourly direct service; in between with a connection at Leiden). From there tram 9, which runs every 10 minutes. There is an information desk at the station to show you the way to the tram stop and where to buy your tram tickets.