OK, this is a hurried translation from the above mentioned webpage. Hope it works.
Notes are mine (this webpage suppose foreigners know what Apeadero del Goloso is...)
The pilgrim should go to Plaza de Castilla (note : there is a subway station) and shortly thereafter, by way of hospitals “La Paz” and "Ramón y Cajal", where the yellow arrows start. Cross the Fuencarral neigborhood, and walk past the sport facilities of Santa Ana (at your left). The path goes towards the Colmenar autovía (highway); cross the overpass besides the gas station, move into the Montecarmelo neighborhood until the wall of Fuencarral cemetery. Next to it is the Divino Salvador church, with a pilgrim's shell (daily pilgrim Mass at 8 AM, blessing and stamp available). In a few yards turn left, going down, then cross the underpass of M-40 highway and railroad. From here, continue up the path, to the corner of the wall of Monte del Pardo (note: this is a very big closed forest). There are many detours; just follow the main path (if in doubt, head for the wall, which is visible from afar, and from there follow it towards the railroad, with the wall always at your left). From this point the road goes 2 kms between the wall and the highway, until the Apeadero (halt, train station) del Goloso. There is a small square with a closed entrance to the Monte del Pardo, where the Apeadero can be seen. The railroad is now at your left, and the autovía (highway) of Colmenar at your right. You can't be lost because you are between the railroad and the highway (which is closer) and share the road with the bike lane. You will arrive at Tres Cantos village, on the other side of the road and the highway. However, you can go to the village (especially if you plan to stop there) by an overpass, which is quite far from downtown.
If this is not your plan, follow the left side of the highway, and just beyond there is a point, by the Tres Cantos rail station, where you turn left onto a very wide path down the Tejeda creek; then take a cattle track, that will get you, after 8 km, to Colmenar....
From the webpage, in English: PAY ATTENTION: At the arrival at Colmenar (between the chapel of St. Ana and the church), someone has painted fake arrows to divert the path towards a private business. For not being lost, a good reference is the tower of the parish church because we have to pass in front of it.
