We landed in Amsterdam (Schiphol Airport) on 11:45. We left the airport around 13:00 with a rental car. There are also intercity and sprinter trains between Amsterdam and Haarlem Central Station almost every 10 minutes. From Amsterdam, it's a 15 minute trip, and the price is 3.80€. Taking the train from Schiphol directly, you’ll have to change lines at Amsterdam Sloterdijk. With a car the drive was about 20 minutes.
I arrived to the Schipol airport around afternoon time. The airport was very easy to navigate my way around. The faster and easier way to get to your destination however, would probably be the train. Train tickets for domestic travel can be purchased from the yellow ticket machines near the platforms at Schiphol Plaza.
I took a train to Amsterdam Zuid station, and from there I took a local taxi. Taxis are very expensive in Amsterdam, and it's likely that even a short drive will rip you off.