If you are staying in Madaba it´s possible to make a very nice round tour to different sites of Dead Sea area. This can be done by taxi or rental car. Drive south out of Madaba following the ancient King Highway to Libb.
In Libb turn right to Mukhawir and continue for about 15 km until you come up on a high ridge with a splendid view over the Dead Sea and Herod’s the Great Palace of Machaerus ruin. This is the place there Salome danced her famous seductive dance for King Herod.