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Arcos is an attractive hill town, but a bit hard to navigate due to its labyrinth of windy streets. MAKE SURE YOU HAVE A MAP (get one from internet and good idea to photocopy and give copies to pax). Walk the group up to the main square, just off Calle Nueva, where you find the town hall, two churches and a Parador. There is a lovely little Belen museum behind the parador with rather eclectic opening hours. Also a wonderful view over rural countryside from the railing adjoining the Parador. River Guadalete is below.
Give time for a coffee and sightseeing. If Ronda is your last stop today, you can allow more time in Arcos if the group would like that. However, keep in mind that the ride from Arcos to Ronda is beautiful and best done during daylight.