Madrid day trips with kids

Hola,

My family leaves August 1 for a 17-day trip to Spain. We'll be staying in Madrid, Granada, and Malaga. My husband has to return to the US earlier than my boys and I due to work, so for the last several days of the trip, I will be on my own with the kids (ages 6 and 4) in Madrid. I thought about taking them on a day trip to Segovia or Toledo, but I'm wondering if it'll be worth it. Is there anything to do in those cities with young kids? Is one city better than another for families?

Also, I don't suppose there are any places in Madrid where I can drop off my kids for a couple hours and go have a peaceful meal by myself?

Thanks!

Have thought about an entertaining day for your Children?
http://parquewarner.com/en

Segovia has the castle.

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