http://www.MadridVision.es (official website)
we went on the tourist bus around Madrid its the easiest way to see the sight and get your bearings might seem expensive but if you get a two day pass its well worth it. It is to far to walk to get to all the attractions and is also a welcome rest after a long day.We would sit on the bus and just see the sights just to rest those weary limbs
Where to get on and off depends on where in the city you are, there are stops all over the place so wherever you are there should be a touristica bus stop nearby