Madrid is studded with riches from its glory days. Rick Steves tours the lavish Royal Palace, enjoys art-packed museums, and looks deep into Picasso's greatest masterpiece. Experiencing Madrid at its fun-loving best, he is mesmerized by flamenco dancers, and munches on pigs' ears. Then, for a dose of Spain's dramatic history, he side-trips to El Escorial and the Valley of the Fallen. First program in a 13-part season.