Your best method of travelling would be by train, it is much quicker than by bus. From Tarifa catch a local bus to Algeciras, then from Algeciras to Ronda by train. There are three trains per day on this route at 07:00, 12:10 and 15:35. From Ronda catch a train to Granada, and then Granada to Madrid. I think this is the best route but the website below may suggest different. http://www.renfe.es/ingles/ The website is in English and with it you can check routes and times, even make your bookings online if you wish. Renfe is Spains national railway. Best of luck and enjoy your trip Stace :0)
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