Madarcos is a municipio (sp.: municipality) in the Comarca Sierra Norte in the province and autonomous community of Madrid.
Madarcos is the smallest independent municipality of the Community of Madrid.
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Madarcos is located at the foothills of the Sierra de Somosierra - the easternmost part of the Sierra de Guadarrama at the foot of the hill Majada de la Peña. To the east of the town flows the river Madarquillos.