Leave the wife at home as the women are baaaYootiful..
Just kidding.
We have been a couple times.
Yes you must see Madrid esp your wife.
She will love the shopping and open malls as well as both will like the food .
But with bikes you will def be able to get out and explore.
JUST GET AND ACCURATE MAP AND STAY AWARE OF FUEL.
STATIONS ARE FAR AND FEW IN BETWEEN.
Everything you think in regard to ease and ability here forget it.
Spain is still a very rural country.
Easy to get lost, run out of gas, argue with your dad, your wife, have your kids hungry and have to pee, and then
Thank God you wife speaks spanish and some nice folks invite you in for supper and give you enough gas to let your father navigate back to the hotel...... Happened to a guy I know...
You should PM NandoBusa. He lives there and may be able to help..
Plaza del Toro is a great place to see an event . You should check it schedule to see whats up.
When we were there they were having some Redbull extreme dirt bike jumping.