Classic Rajasthan tour: forts, palaces & rural villages

Your private guided tour of the capital today highlights the remarkable contrasts across Delhi, a melting pot of cultures. Your activity includes Humayun's Tomb, a Mughal monument directly inspiring the more famous Taj Mahal. From here enjoy a walk with your guide to a local community project where you will learn more about the area from the women living here. A rickshaw ride follows through the chaotic streets, and you can also see the monumental buildings set along wide boulevards of Lutyens' New Delhi, including India Gate and the President's residence.

Leave Delhi in good time this morning to travel south to Agra. You can travel by road with your private driver (a three-hour trip on the express highway) or take the train. In the afternoon, take a guided walk around Agra's sights, such as the impressive Mogul Red Fort. The Red Fort is a great preview to visiting the Taj Mahal in the morning — the two were built during the same period and have much shared history.

An early start this morning to capture the Taj Mahal at sunrise with a private guided tour. Make sure you take time to explore the surrounding gardens and mosque. After breakfast, drive from Agra to Jaipur, stopping en route to visit Fatehpur Sikri, the enigmatic and beautiful deserted capital of Emperor Akbar, which was abandoned when water supplies dried up. The journey takes five hours, but your guide can suggest places to stop and visit along the way.

A full day sightseeing in and around the 'Pink City' of Jaipur today with your private guide and driver. In the morning you will visit the magnificent Amber Palace. Capital of the Kachhwaha Rajputs until 1727, this fort complex is an impressive place to visit. Back in the heart of the city, discover the treasures of the City Palace which houses an important museum, the intricate façade of The Palace of the Winds and also the fascinating Jantar Mantar Observatory.

Today you have much time at leisure to explore Jaipur's famous shopping, or simply relax at your hotel. This evening join your guide for a food walk in the city, visiting several stalls and restaurants to sample local delicacies. Start with a traditional chai, before you work your way through snacks, mains and finally a sweet treat for dessert.

Leave Jaipur for Rajasthan's sprawling countryside, with a drive to Pali. Your journey will take you through fields to the outskirts of the Thar Desert, around five hours from door to door.

Join your naturalist and spend the day on safari, exploring the Todgarh Raoli Wildlife Sanctuary. Leopards are the predominant big cat here, though you may also see wild boars, sloth bears and wolves. Deep within the sanctuary, you find Dudhaleshwar Temple, nestled among banyan and tamarind trees.

Leave Pali behind and proceed to Jodhpur, which is affectionately known as the Blue City. A drive of around two and half hours.

Today you're met by your guide and taken for an exciting private tour of the city. Visit the impressive Mehrangarh Fort, which overlooks the whole of Jodhpur, as well as get the chance to explore the busy streets and blue houses. You may then wish to spend the remainder of the afternoon discovering the bazaars located around the clock tower.

Head three hours south today with your driver to Deogarh where the remainder of the day is at your leisure. Your hosts are incredibly welcoming here and have worked hard to restore their heritage home.

Today is at your leisure to explore this unique corner of India. Your hosts can help plan different activities, including going to visit the nearby villages where you can enjoy chai with the locals, rural railway trips and sundowners across the lake.

Continue south today to Udaipur, via the impressive Temple at Ranakpur. The temple is a renowned Jain temple and is certainly one of the most impressive temples to visit while in Rajasthan. This journey is a three-hour drive, ending at the beautiful lakes of Udaipur.

Today you're met by your guide and taken for an interesting private tour of Udaipur, the beautiful city of lakes. Explore many of the highlights of the city, including the City Palace, which was built in a flamboyant style and considered the largest of its type in the state. The remainder of the afternoon is at your leisure to enjoy soaking up this stunning city before the journey home tomorrow.