Classic Rajasthan tour: forts, palaces & rural villages

Your private guided tour of the capital today highlights the remarkable contrast between Old and New Delhi. Your activity includes the Jama Masjid, the largest Friday mosque in India. From here we suggest a walk with your guide in the heart of Old Delhi — a great way to absorb the sights and sounds. 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 either travel by road with your private driver (a three-hour trip on the express highway) or take the train. Depending on the train times, the rail journey can take longer than driving, but it does offer a great experience. You'll be assisted onto the train and met at the other end by an Audley representative. 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.

Continue your journey west further into Rajasthan today as you head to the rural village of Barli with your private car and driver. The journey itself takes around four hours, as you leave the city behind and watch the scenery change into countryside.

Today, you are free to explore at your own leisure. You may wish to take an escorted tour of the fort with the staff or discover the nearby villages by bullock cart.

Leave Barli behind and proceed to Jodhpur, which is affectionately known as the Blue City. Settle back into city life by enjoying a drink on the rooftop terrace, as your hotel here boasts fantastic views of the fort.

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 Chanoud where the remainder of the day is at your leisure. Your hosts are incredibly welcoming here and will help you settle into the 300-year-old palace, which will allow you to experience the historical side of Rajasthan.

Today is at your leisure to fully explore this unique corner of India. Your hosts can help plan different activities, including going to visit the nearby villages where you can meet shepherds and Rabaris, or you can enjoy a drink whilst watching the sunset across the salt lake.

Continue south today to Udaipur, via the impressive Kumbhalgarh Fort and 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 but you may like to spend longer travelling, taking the time to walk up to Kumbhalgarh Fort.

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.

Leave India behind and board your onward flight. From Udaipur, you usually have to depart via Delhi or Mumbai to catch an international flight.

Arrive home today to complete your journey.