There is the regular airport shuttle (see link to the right). You'd take it to Cibeles and either walk or cab from there. Or you can try Aero City http://www.aerocity.com/
Do NOT use Aerocity service! I've juts came from Madrid 3 days ago and had moslty unpleasent experience with this company. They left me at 5am with my family, on rain to wait for their vehicle and transfer us to the airport. Driver never appeared and we had to run to get the taxi after 30 minutes of waiting. That turned our trip back into the nightmare, cost me 600eur extra as I paid new tickets. Wrote complain to them...not a single word of excuse.Never use Aerocity!
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