The Palace is within walking distance of the most popular tourist attractions. We have a half-dozen places to visit "on our own" today and tomorrow. Besides the art museums listed below, be sure to visit the Puerta de Sol, Plaza Mayor, and Mercado San Miguel.
YouTube has about a dozen tourist videos. This one I like the best. It offers a look look about looking about Madrid.
https://www.youtube.com/watch?v=16Z_XlgFlBo
I have included most on the recommended see and do on my
Cynthia has shared her Signature from Cynthia
Here are four great videos that you'll enjoy watching
10 UNSPOKEN RULES Tourists Keep Breaking in Spain