Take a private 3-hour walking tour through the heart of Madrid, and learn how the Spanish capital has developed over the centuries. Meet on Puerta del Sol, site of Madrid’s easternmost gate in the 15th century. Admire the statue of King Carlos III in the center of the square as your guide explains the history of a country that dominated the 7 seas for centuries and gave birth to Cortes, Cervantes, Velazquez and Goya. Marvel at Hapsburg era buildings on Plaza Mayor and Plaza de la Villa, and admire the baroque Santa Cruz Palace, inspired by Italian architecture. En route to the Royal Palace, pass the 9th-century church of San Gines. Continue to the Teatro Real (Royal Theater), just in front of the Royal Palace. Stop to admire the Almudena Cathedral, built on the site of an old city mosque. Go to Plaza de la Paja and learn why it was the most important square in the Middle Ages. End with a traditional chocolate con churros, a light, crispy stick of fried dough served with thick, hot chocolate.