Madrid airport is the busiest airport in Spain with nearly 62 million passengers.
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If you have a connection at the Madrid Barajas Airport and you need to get from one terminal to the other, it can take time, but it is free and relatively easy. You can walk between terminals 1, 2, and 3. It is about a 10-minute walk between Terminal 1 and Terminal 2 and 3 which are right next to each other.
Travel advisers say there's a lot to take into account when booking connecting flights, but a general rule of thumb is 60-90 minutes between domestic flights and at least two to three hours for international itineraries.
The TSA and airports want you to get there earlier, each for its own reasons. The agency does not like to be rushed with screenings, even if there's a long security line. Airports want you to take advantage of their incredible shopping and dining facilities, which you can't do if you're rushing to the gate.
Generally speaking, most airlines advise that you arrive at the airport at least 2 hours prior to a domestic flight, and at least 3 hours prior to an international flight.
If you miss your connection booked with the same airline that your were on for your first flight, and the issue is due to a delayed take off or anything else that's in the hands of your airline, it's the airline's responsibility to rebook you on the next available flight.
Overall, passengers usually have to re-clear security for connecting flights, though there may be some exceptions depending on the airport and flight itinerary. To make this process easier, checking with the airline or airport ahead of time is recommended.
If a delay in your first flight is the reason you're missing your connection, don't worry too much. Usually, most airlines will rebook you on the next flight, and that too for free. Although, you might have to fly on standby depending on seat availability.