We are going to Spain with Globus tours (Spanish Fiesta) and will be in Madrid on September 20. For us travel is the opportunity to see and learn about people, culture, history and architecture.

BUT on Saturday we will be in the hotel Agumar by noon and will have our FREE time until 18:00. I look into many books and sites and completely lost: where to start? What should we see? Where to go? We love to walk. We are not sure if we should spend all 6 hours in near by El Retiro Park.

Our schedule next day on Sunday in Madrid: Morning sightseeing takes you to the Puerta del Sol, Plaza España with its monument to Cervantes, the Parliament, Cibeles Fountain, elegant Calle Alcala, and Paseo de Castellana. Then the highlight: a visit to the palatial PRADO MUSEUM with its priceless art treasures. The afternoon is at leisure. An optional excursion to El Escorial and the Valley of the Fallen can be arranged.

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Certanly 6 hours for El retiro will be too much. You can have a look at the Thyssen collection or if you are interested in modern art The Reina Sofia museum is a must.
Around the ,Plaza de Oriente, there are nice cafes and terraces.
It could also be Siesta Time...

Go to the Reina Sofia and see Picassos's Guernica--one of the most important peieces of modern art. Then sit in the courtyard at the Reina Sofia and have coffee or a drink, or go look at the other Picasso's and Dali's there.

All the other places you are visiting could stand more time. Also, don't miss the Palace--for me it equalled Versailles.

You could visit the Centro de Arte de la Reina Sofia which is across the Plaza from Atocha Rail Station (nearby).

Since it's not included in your Sunday excursion, I would take a taxi to the Palacio Real and do the tour there. You may have to wait a bit but they have 'English spoken' tours. It costs a few bucks but it's well worth it.
When you come back from the Palace, cross to Opera (adjacent to the Parque de Oriente) and walk up the Calle Mayor to the Plaza Mayor (also not included in your Sunday tour).

Or, you could save that all for Sunday afternoon and take a quick trip to Toledo Saturday afternoon. Some Tour Operators offer a half day trip. Ask the Hotel Concierge.

I will look into my "books" and try to see suggested places. Any books that will have a map for good walking tours that you found useful?
Toledo is a part of our tour on day 13.

Just found Lonely Planet "Condensed" Ultimate Pocket Guide on Madrid at Barnes and Noble last night. It has some walking tours along with good maps that I am going to do, along with many stops along the way at Tapas bars. One of the walking tours looks similar to the one posted by Maribel under Wine and tapa night tours in Madrid.