My wife and I are planning on taking the bus from Madrid to San Lorenzo de El Escorial (obviously, visiting the palace there). We would like to visit the Valley of the Fallen thereafter. I have read that the bus service drops passengers off 4.8 km (3 miles) from the entrance to the Valley of the Fallen, which is primarily an uphill hike. While we are not afraid of walking, I would rather save the time (and blisters). Does anyone have a suggestion about how we might get to the entrance of the Valley of the Fallen via public transportation without the long-distance walk? I know there are guided tours, but we're not a big fan of those as we prefer to see things at our own pace.
Thank you!