With four wheels at your disposal, you have perfect freedom to roam the huge Spanish capital at your leisure, making it easier to see more and get to those hard-to-reach places. Encircled by the M-30, this city isn’t difficult to navigate.

Calle de Toledo snakes through the centre – use this stretch of road and you’ll pass by the grand Puerta de Toledo, a neo-classical gate built to commemorate King Fernando VII. Eventually the street will take you to Plaza Mayor, the city’s lively meeting point where you can eat, shop or simply soak up the amazing atmosphere.

From the bustling square, peel off down Calle Mayor and turn onto Calle de Bailén to visit the Palacio Real. If Real Jardin Botanico and Museo Nacional del Prado are on your to-do list, use Av. de la Ciudad de Barcelona and Passeo del Prado.

Madrid is located in the heart of Spain and is the focal point for the country’s motorway network. In Spain, motorways are known as autovias, depicted with the letter ‘A’, which differ slightly to toll motorways, called autopistas, which are marked with ‘AP’.

With the entire nation within drivable distance, this makes the capital uniquely placed for road trips. Make for the Mediterranean coast and you can visit some of Spain’s best seaside cities. If energetic Barcelona is on your bucket list, follow the AP-2 and A-2. In this unique city, you can bask in the sunshine at the urban beach, explore Gaudí’s contemporary masterpieces and graze on tapas along the vibrant Las Ramblas. If you’re dreaming of authentic paella, take the A-3 to Valencia. Spain’s third city has charm by the bucket load, with a blend of gothic and contemporary architecture to see.

While in Spain you’ll use the right-hand side of the road and overtake on the left. Road rules here are similar to those in Ireland, with the use of mobile devices banned while driving and all passengers required to wear a seatbelt. The maximum speed limit in more built-up areas is usually 50 km/h while motorways have a cap of 120 km/h.

Start your day in a town square café, people-watching while sipping on a café con leche, and end it grazing on bite-size dishes at one of the hundreds of excellent tapas bars packed into Madrid. In between? Well, there’s no shortage of options for things to keep you busy in the city known to residents as ‘El Foro’.

Be a culture vulture

The lynchpin of Spain’s monarchy can be found in central Madrid. Palacio Real was built in the 18^th century in flamboyant baroque style, commissioned by Felipe V with the hope of outshining other royal residences throughout the continent. And it didn’t fall short. Take a tour through the sprawling palace and you’ll find it’s chock-a-block full of art and antiques, though the real highlight is the lavish red-tinged throne room. Cast your eyes on the golden tronos, flanked by bronze lion statues, and marvel at the dramatic fresco dominating the ceiling.

Cross the city to visit Museo Nacional del Prado, Spain’s premier art gallery and one of the best in the world. Works from Spanish masters, including Goya and Velázquez, share wall space with European gems from the likes of Titian, Bosch and Rembrandt. Just down the road you’ll find more prestige art at Centro de Arte Reina Sofía. With a focus on modern pieces, the gallery’s principal works to see are those from Dalí and Picasso. Most visitors head for Guernica, Picasso’s most famed piece, which depicts his outrage at the horrors of the Spanish Civil War.

Where Madrid relaxes

Madrid may be a fast-moving and cosmopolitan capital but there’s peace to be found among the hustle and bustle. The city is home to several beautiful lush parks and gardens, the biggest of which is Casa de Campo, but the best of which is certainly Buen Retiro Park.

Once a retreat for the Spanish royal family, this green haven now serves as place for both Madrileños and tourists alike to enjoy tranquil respite. Here, the pace of life beats to your own rhythm – you can simply wander the manicured rose gardens, spotting peacocks and sculptures along the way. Or voyage across the man-made lake when you hire a rowing boat and admire the monument to King Alfonso XII from the waters.

Among the greenery, architectural wonders are to be found. Spot the pink façade of Casita del Pescador and admire the Roman-style detailing of Ermita de San Isidro. Nothing can beat the beautiful glasswork of Palacio de Cristal, however. Inside, you’ll find temporary art exhibitions, rather than the exotic plants which used to be housed here.

A grand day out to La Granja

If you fancy embarking on a day trip from Madrid, San Ildefonso is worth the drive. This tiny town boasts one huge landmark - Palacio Real de la Granja de San Ildefonso.

Nestled at the foot of the Sierra de Guadarrama mountain range, this baroque-style palace was dreamt up by King Felipe V in a bid to mimic Versailles, the palace he was born in. Tour the decadent rooms to see 16^th century tapestries and gilded ceilings, before heading outside into the sunshine to admire the glorious landscaped gardens. The series of fountains are nothing short of dazzling and the French-style maze is a joy to get lost in.

There’s a real plethora of reasons to visit this magical city, which will tempt you back time and time again. Book a hire car in Madrid and make the most of your trip to the Spanish capital.