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Segovia and Avila Day Tour

We will be staying in Madrid and wanted to do a day tour to both Segovia and Avila. We'd like to have some time to explore the sites of those cities and walk around a bit. There are a number of tour groups that offer this tour, but I have heard such mixed reviews. Anyone have any suggestions for a quality tour that lets you experience these cities without feeling like you are just on a "cattle drive"?

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I will suggest to stay two nights in Segovia , is a great city and beautiful during the night.Then take the bus to Avila for a day trip . Enjoy