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When one enters the Prado Museum and gets past the security checkpoint, one can find the private guides that one can hire. Many times a guide may approach one and ask if one is interested in a guide. These guides are licensed by the government and are experts in art history, and one can find a guide who speaks the language one wants to use.
As of this writing, the guides charge 50 euros for one hour, for one person, or for a group of up to five people.