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Travel Through Northern Spain - 10 days

We are a family of 5 (kids ages 22, 21 and 20). We have 10 days to travel from Madrid to Barcelona (6-27 through 7-6). So far, we know that we are going to Salamanca the first night. From there we would like to travel by bus or by car (?) to Asturias and along the coast, eventually arriving in Barcelona. Any itinerary suggestions? Also, inexpensive places to stay? We do not need luxury hotels.

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Zamora, near Salamanca is well worth a visit. Zamora is where El Cid attended school as a child. It is compact, and the buildings are amazing....As is Avila, with the best preserved city wall around. Check www.madridman.com for specifics on lodging etc.