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Bus travel from Madrid to Valley of the Fallen and El Escorial

Has anyone used the public bus to travel these tourist sites? If so, I'd appreciate some suggestions as to the bus to take and the travel between these sites. I've been there before but always with a car. We'll have with us some folks who have not been there and consequently we're taking a day trip out of Madrid.

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It has been ten years since we did it so I cannot give specifics. Since the train system is not as well developed in Spain as in other European countries, they developed a great bus system to compensate. And buses are really cheap. The is a huge central bus terminal in Madrid. If I remember correctly the service is hourly and fairly direct. Google for a web site. I am sure someone will have more recent experience.