Seeking a driver for a day near Warsaw

Have you contacted your Warsaw hotel for help with this question?

I haven't, but that's a good idea.

I did contact the hotel, but I thought their price was rather high, $440, so I'd like to get some other prices.

Many folks on this site (and on Trip Advisor) rave about Andrew Durman, so give him a try even though he may be based in Krakow (see link below). Your quoted rate from the hotel is pretty outrageous, considering your trip is ~ one hour each way. Even for an entire day, that's a high price (Polish wages are not that high at all compared to Western Europe).
http://www.tour-service.pl/index.html

In worst case, don't be shy about renting a car..it's not that hard to drive around at all. Of course, I'm thinking you're also looking for someone to translate with locals, correct?

Thank you Agnes, I will try Andrew's service, although he is based in Cracow and we need to be picked up in Warsaw. Yes, we are reluctant to rent a car because we don't speak Polish and would like some help talking to the locals.

Here's a travel agency that provided bilingual guides for our June ancestral heritage tour. Maybe they can help.
Travpol Travel Agency, +48 22 834 05 26, www.travpol.pl, email: travpol@travpol.pl
Have a great trip!

There are multiple Zelichows in Poland. I wonder whether there's confusion about which one is the desired destination. I couldn't find one that looked as if it was only about an hour from Warsaw.

The tour company StayPoland can arrange private transportations, tours, guides, etc. That does sound like a lot. Keep the time difference into account in dealing with anyone there, and beware of emails being stopped by spam filters.

As acraven noted, The town of Żelichów is way west of Warsaw, on the German border. The town of Żelechów is 85km east of Warsaw. Make sure you got the right one.

If you want the Zelechow that's just east of Sobolew, you don't necessarily have to take a taxi from Warsaw. There's rail service to Sobolew, leaving you with just 12 miles to cover by taxi. You'd need to find names and phone numbers of Sobolew taxi drivers in advance, of course. And I wouldn't plan to make the trip on a Sunday.

There is no place named Zelichow in Poland.

There are three villages named Żelichów - this little dot over Z is very important as it turns z into a completely different letter, comma over o turns o into a completely different letter too, but it's less important as "-ow" does not even sound Polish so for any Polish speaker it's rather obvious it must be "-ów". None of these villages, however, is anywhere near Warsaw. If you indeed need Żelechów, not Żelichów, then there are three Żelechóws near Warsaw (in Mazowieckie voivodship to be exact), one is a town, two other are villages. There are several daily busses to Żelechów town, from Central Warsaw (Plac Defilad) and Warszawa Wschodnia Bus station (Dw. Wschodni)

https://en.e-podroznik.pl/
Warszawa <-> Żelechów (miasto)

Here is a list of all Polish cities, towns and villages, should it be something different http://ksng.gugik.gov.pl/pliki/urzedowy_wykaz_nazw_miejscowosci_2015.pdf

I spelled the name of the town incorrectly. My apologies. The name of the town is Żelechów, in the district of Garwolin. According to Google maps, it is 90 kilometers southeast of Warsaw.

Thank you Galen and Stan for the suggestions. I am looking into them!