If you're looking for a meeting place or a good stop around ½ or halfway between Madison, AL and Zionsville, you can try Elizabethtown, KY, which is about 3½ hours north of Madison, AL, or about 3 hours south of Zionsville.
Other possible places to stop near the midpoint include Highland Springs, Glasgow, Riders Mill, Northtown, Forestville, and Hodgenville.
About ¼ or a fourth of the way, you can stop at Nashville, TN. This is about 1½ hours north of Madison, AL.
About ⅓ or a third of the way, you can stop at Hendersonville, TN. This is about 2 hours north of Madison, AL.
About ⅔ or two thirds of the way, you can stop at Louisville, KY. This is a little over 4 hours north of Madison, AL, or a little over 2 hours south of Zionsville.
About ¾ or three fourths of the way, you can stop at New Albany, IN. This is almost 5 hours north of Madison, AL, or almost 2 hours south of Zionsville.
If you drive straight through without stopping at all, the total distance is 424 miles. The distances shown above don't include local roads to get into each town, so if you're planning a long road trip, make sure you factor in traffic and road conditions, rest stop breaks, and interesting detours along the way. If you're in a rush, you can do the trip with zero stops, and your total travel time would be around 6 hours, 26 minutes.