 Madsen was introduced to rowing after her wheelchair basketball sponsor invited her to a learn-to-row event in Dana Point.She found she was a natural at the sport and liked that she did not need to use a wheelchair to participate.In 2002, the International Rowing Federation added adaptive rowing to the World Rowing Championships, and Madsen, classified as a trunk-and-arms (TA) competitor, was selected to race at the 2002 World Rowing Championships.