Madrid, Sevilla, and ?
 

Good evening, all;
We've finally gotten serious about planning our summer travels -- this time to Spain ! 5 of us will be traveling together -- DH and I, DS, DIL, and DD (all the kids are in their 20s).

We plan to fly in to Madrid (arriving Saturday, 9 June) and the kids will depart from Malaga (on Monday, 18 June). DH and I will depart a couple of days later. While we're on the ground, we plan to spend a few days in Madrid, a few days in Sevilla, and then would like a couple of days on a beach.
I'm reading the boards and gathering a lot of great information about Madrid and Sevilla, but am looking for recommendations for good beaches and beach towns near Malaga. (As a point of reference, we were in Palma de Mallorca a couple of years ago, and loved it! I think that is the kind of atmosphere we are looking for.)

Where do you all suggest we consider for a couple of relaxed beach days?

Thanks in advance!
annettetx