Private Rajasthan Heritage Tour: 10 Days with Guide & Boutique Hotels

Summary

Rajasthan Forts & Palaces Private Tour: Full Itinerary & Highlights

You’ll walk through ancient forts, sleep in heritage havelis, sip chai with locals, and watch sunrise over the Taj Mahal—all guided by someone who knows every shortcut and story along the way.

What’s the experience like?

The air in Delhi hit me as soon as I stepped out—warm, a little dusty, with that mix of incense and street food you only get here. Our driver was waiting right outside arrivals, holding a sign with my name. After dropping bags at Suncourt Yatri, we jumped straight into the city’s maze: Akshardham’s white marble shimmered in the afternoon sun, Humayun’s Tomb felt almost quiet despite the crowds, and at Birla Temple I caught the faint scent of marigolds. Monkeys darted along temple walls—our guide joked they’re the real locals.

The next morning we left for Mandawa. The road out of Delhi is busy—horns everywhere—but once you hit Shekhawati it’s calmer. Walking through Mandawa’s old havelis like Murmuria Haveli, I noticed faded frescoes telling stories from another time. Locals waved as we passed; one old man offered us chai from his tiny stall near Paawana Haveli. Mandawa Fort sits above town—climb up for views over flat rooftops and drying laundry.

Bikaner came next. Junagarh Fort is huge—red sandstone walls and courtyards echoing with our footsteps. But honestly? The Rat Temple at Deshnok is what stuck with me most. Hundreds of rats scurrying around your feet—it’s strange at first but somehow everyone just accepts it. Hotel Sagar was comfortable; slept well after all that walking.

On to Jodhpur, stopping briefly at Pokaran Fort (worth it for a quick stretch). In Jodhpur’s old city, blue houses crowd narrow lanes around the Clock Tower bazaar—spices everywhere, especially cardamom and dried chilies. Umaid Bhawan Palace looks almost unreal against the sky. At Mandore Guest House, peacocks wandered through the garden while we had tea.

Mehrangarh Fort dominates Jodhpur—you can see it from almost anywhere in town. Inside, Moti-Mahal glows gold in late morning light; Phool Mahal has stained glass windows that throw colored spots on the floor. Jaswant Thada is quieter—a good spot to catch your breath before heading to the Umaid Public Museum.

The drive to Jaipur took us through Ajmer (Taragarh Fort) and Pushkar—a holy town where pilgrims bathe by the ghats and flower sellers crowd every lane near Brahma Temple. Jaipur itself buzzes with life: Amber Fort rises above green hills; Hawa Mahal’s honeycomb windows glow pink at sunset; cows wander past Anuraag Villa as you head out for dinner.

We stopped at Abhaneri stepwells on our way to Agra—deep stone steps spiraling down into cool shadow—and then Fatehpur Sikri, a city frozen in time. Agra itself is busy but nothing prepares you for seeing the Taj Mahal at sunrise—the marble changes color as the sun comes up and there’s this hush over everyone watching. Hotel Atulyaa Taj has a rooftop view if you want more photos later.

Last day back in Delhi: Red Fort’s massive gates open early; Jama Masjid fills with birdsong; Chandni Chowk wakes up slowly with shopkeepers sweeping dust from their stalls. Our driver dropped us wherever we wanted—Qutb Minar or just back to pack up before heading home.

Step-by-step itinerary

Day 1 — Arrival and Delhi Tour

• Arrival at Delhi airport
• Transfer to hotel
• Visit Akshardham temple
• Visit Humayun's Tomb
• Visit Birla temple
• Visit Monkey temple
• Overnight in Delhi

Day 2 — Delhi to Mandawa

• Drive to Mandawa
• Walking tour of old havelies
• Visit Mandawa Fort
• Overnight in Mandawa

Day 3 — Mandawa to Bikaner

• Drive to Bikaner
• Visit Junagarh Fort
• Visit Deshnok Rat Temple
• Overnight in Bikaner

Day 4 — Bikaner to Jodhpur

• Drive to Jodhpur with stop at Pokaran Fort
• Explore Jodhpur old city center
• Visit Clock Tower bazaar
• Visit Umaid Bhawan Palace
• Overnight in Jodhpur

Day 5 — Jodhpur Sightseeing

• Visit Mehrangarh Fort
• Visit Moti-Mahal and Phool Mahal
• Visit Jaswant Thada
• Visit Umaid Public Museum
• Overnight in Jodhpur

Day 6 — Jodhpur to Jaipur via Ajmer and Pushkar

• Drive to Jaipur
• Visit Ajmer and Taragarh Fort
• Visit Pushkar Ghats and Brahma temple
• Overnight in Jaipur

Day 7 — Jaipur Sightseeing

• Visit Amber Fort
• Explore old town and monuments
• Visit Mirla temple
• Visit Palace of Winds
• Visit City Palace
• Visit Jal Mahal
• Overnight in Jaipur

Day 8 — Jaipur to Agra

• Stop at Abhaneri stepwells
• Visit Fatehpur Sikri
• Continue to Agra
• Free time in Agra
• Overnight in Agra

Day 9 — Agra to Delhi

• Visit Taj Mahal at sunrise
• Visit Agra Fort
• Visit Sikandra Fort
• Drive to Delhi
• Additional sightseeing in Delhi
• Overnight in Delhi

Day 10 — Delhi Sightseeing and Departure

• Visit Red Fort
• Visit Jama Masjid Mosque
• Explore Chandni Chowk
• Visit Qutb Minar
• Transfer to airport

Top questions

Is this Rajasthan tour suitable for families or older travelers?

Yes! The tour is designed for all ages and fitness levels—there are options for strollers or wheelchairs if needed, plus comfortable hotels each night.

Are guides included throughout the trip?

You’ll have a private certified guide with you during your journey—they know local history and can help personalize each stop based on your interests.

Can I customize parts of this itinerary?

Certainly! If there are places you want to spend more or less time at—or extra stops nearby—just let your driver or guide know during your trip.

What kind of accommodation will I stay in?

You’ll stay in boutique hotels or restored havelis chosen for comfort and local charm; if any listed hotel is full we’ll book something similar or better quality.

What’s included

Your own air-conditioned car with English-speaking driver (his expenses covered), private certified guide throughout, bottled water during transfers, stays in comfort hotels (including heritage havelis), free mobile phone with local SIM card during your tour—and flexible pick-up/drop-off options whether you arrive by plane or are already in Delhi.