I highly recommend going to see Machu Picchu! It is amazing, truly one of the wonders of the world. It's the main reason
I went to South America. I also visited Rio, and Iguazu Falls which straddles the border between Brazil and Argentina.
They are a spectacular series of waterfalls!
I really can't even comprehend how they built structures that high in the mountains back in the 1500's with no wheel. As to travel companies, try Monograms and Globus. They're very reasonable, and I've traveled a lot with them.
With Globus you go with a group. Monograms does it a bit differently. A local guide meets you at the airport in each city, and shows you around. Then he takes you back to the airport, and you head for the next city.
I really don't know anything about Madagascar.
Another amazing destination I'm told is Ankor Wat in Cambodia. I will visit there in Feb.
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