If you have no time at all, make sure to visit the Goya room with his dark paintings. Astounding, disturbing and fascinating. If you have time, see it all :) Enjoy!
Search out The Garden of Earthly Delights by H. Bosch, Las Meninas by Velázquez, and Goya's best-known portraits (same room), The Nude Maja and The Clothed Maja. + Tips: http://gwo.is/1day-madrid-fq
Great to see Velázquez, especially the meta-portrait Las Meninas, but it is the viscerality of Goya's 'Black paintings' that are a highlight. Especially Saturn.
#Prado is huge with vast collection of amazing art that you must see. Tips: you can enjoy 2 hours for free from 6:00-8:00 pm. Plan your visit ahead of time with what you want to see.
Basically only 12th to 20th century European art... so if you love paintings of Kings, Monarchs, historical European battles, and of course Jesus - then this is the place for you.
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