From Madrid, take the AVE train from the Atocha Station. Get your tickets in the ticket counter room on the level with the tropical garden. When you enter the room get a number just like for the ice cream shops here. Get a round trip ticket and go to the loading platform. The Ticket will have the car number and seat number on it. 26 minutes later you will be in Toledo, the only stop. As you exit the station, there are tour buses immediately in front. Bypass them and get a local bus on the street outside the parking lot. Take it to Plaza Zodocover. Ask for assistance..the people are very helpful. From Plaza Zodocover, go down the hill to the Cathederal. (There is a tourist office just off the plaza with maps, etc. The ticket office, gift shop for the Cathederal is on the side street across from the entrance. Get a hand held audio guide. The time there will be one hour more or less, depending on your speed.
From there back to Plaza Zodocover, and go through the kestone arch. Easily seen..Turn left just past the statue of Cervantes, and there is a great sidewalk café just ahead of you...actually fills the street as it dead ends. After lunch, the Santa Maria (?) Museum is adcaent to the restaurant. as you walk back out the street, turn left and you are at the entrance. Great museum with changing and non changing exhibits. From there walk up the hill to the Alcazar and the Military Museum. You actually enter from the basement. Well worth seeing, and not just military exhibits.
If you have the time, and energy, ask for directions to the Jewish Quarter and seethe buildings there...also the St. Tome church. or El Greco's house.
Then hail a taxi back to the train station.