Private Rajasthan Tour: Palaces, Forts & Camel Safari - 12 Days

Rajasthan Private Tour with Desert Camp & Taj Mahal Visit

You’ll walk ancient forts, ride camels into desert sunsets, sleep under stars, and stand before India’s greatest palaces—all with local guides who bring every story to life.

Step-by-step itinerary

Day 1 — Delhi Arrival and City Tour

• Airport pickup and hotel transfer
• Visit Akshardham temple
• Visit Humayun's Tomb
• Visit Lotus temple
• Visit Birla temple
• Visit Monkey temple
• Overnight in Delhi

Day 2 — Delhi to Mandawa

• Transfer to Mandawa by road
• Walking tour of old havelis
• 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 Khuri Desert

• Travel to Khuri with stop at Pokaran Fort
• Private camel safari in desert
• Overnight in desert dunes

Day 5 — Khuri to Jaisalmer

• Drive to Jaisalmer
• Visit Trikoot Garh Fort
• Visit Gadi Sagar
• Overnight in Jaisalmer

Day 6 — Jaisalmer to Jodhpur

• Travel to Jodhpur
• Explore old city center and Clock Tower bazaar
• Visit Umaid Bhawan Palace
• Overnight in Jodhpur

Day 7 — Jodhpur Sightseeing

• Visit Mehrangarh Fort
• Visit Jaswant Thada
• Visit Umaid Public Museum
• Overnight in Jodhpur

Day 8 — Jodhpur to Jaipur via Ajmer and Pushkar

• Drive to Jaipur with stops in Ajmer and Pushkar
• Overnight in Jaipur

Day 9 — Jaipur City Tour

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

Day 10 — Jaipur to Agra via Abhaneri

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

Day 11 — Agra to Delhi via Taj Mahal

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

Day 12 — Delhi Sightseeing and Departure

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

The Experience

The first thing that hit me in Delhi was the mix of old and new—rickshaws weaving past glassy buildings, the air thick with incense and traffic. Our driver met us right at arrivals, holding a sign with my name (always a relief after a long flight). We dropped our bags at Suncourt Yatri and headed straight out. Akshardham temple’s carvings are even more detailed up close than in photos. At Humayun’s Tomb, our guide explained how it inspired the Taj Mahal—never knew that before. The Lotus Temple was quiet inside, just birds outside and the faint smell of marigolds from nearby stalls.

Mandawa felt like stepping into an open-air museum. The havelis here—especially Murmuria Haveli—are covered in faded murals; you can almost picture the merchants who lived here. Mandawa Fort sits right in the center of town, its ramparts offering views over flat rooftops and dusty lanes. We stayed at Paawana Haveli, where breakfast came with fresh parathas and sweet chai.

Bikaner’s Junagarh Fort is massive—red sandstone walls stretching forever—and inside there’s a room lined entirely with mirrors. Our guide told us stories about royal feasts held here. Later we visited Deshnok’s Rat Temple (Shri Karni Mata). I’ll admit I was nervous, but it’s oddly peaceful once you’re inside. Locals believe spotting a white rat brings luck; we saw one dart under an altar.

The drive to Khuri took us past Pokaran Fort—a quick stop for samosas from a roadside vendor before heading into real desert country. In Khuri, camels waited for us at sunset. Riding out onto the dunes as the sky turned orange was surreal; dinner was cooked over an open fire and we slept under more stars than I’ve ever seen in my life.

Jaisalmer rises out of the sand like something from a storybook. Trikoot Garh Fort sits atop Meru Hill—you can see all of Jaisalmer from up there. Gadi Sagar Lake is ringed by shrines and old ghats; locals come here to feed fish in the mornings. Our hotel, The Royale, had carved balconies overlooking narrow streets below.

Jodhpur is all blue houses and bustling markets around the Clock Tower bazaar—spices everywhere you look (and smell). Umaid Bhawan Palace is part-museum now; we wandered through rooms filled with vintage clocks and photos of maharajas playing polo.

The next day was all about Mehrangarh Fort—honestly one of the most impressive places I’ve ever been. The Moti-Mahal glows gold in late morning light; Phool Mahal is quieter but just as grand. Jaswant Thada sits nearby—a marble memorial surrounded by gardens where locals picnic on weekends.

The road to Jaipur winds through Ajmer and Pushkar—Pushkar’s lake is ringed by temples and wandering cows (watch your step). Jaipur itself feels lively: Amber Fort looms above pink city streets, while Hawa Mahal looks like honeycomb from afar. City Palace is still home to royalty; our guide pointed out details I’d have missed alone.

On our way to Agra we stopped at Abhaneri’s stepwells—so deep you can barely see the bottom—and Fatehpur Sikri, which felt frozen in time. Agra itself was busy but worth it for sunrise at the Taj Mahal: mist rising off the Yamuna River as sunlight hits marble domes is something I’ll never forget.

We wrapped up back in Delhi with visits to Red Fort (the sound of distant prayers drifting over high walls), Jama Masjid mosque (kids flying kites overhead), Chandni Chowk’s chaos, and finally Qutb Minar before heading home or onward wherever you want in Delhi.

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 wheelchair-accessible vehicles and infant seats available if needed.

What kind of accommodation will we stay in?

You’ll stay in comfortable hotels (like Suncourt Yatri or Paawana Haveli) plus one night camping on desert dunes near Khuri—with similar or better options if listed hotels are full.

Is airport pickup included? What info do you need?

Yes—just provide your flight details when booking so your driver can meet you directly at arrivals with a sign.

Can I use my phone during the trip?

You’ll get a free mobile phone with local SIM for calls or maps during your tour—it makes things much easier!

What’s included

Your own private car with English-speaking driver covers all transfers across Rajasthan—even bottled water along the way! Certified guides join you at key sites for deeper stories. Hotels are pre-booked (or upgraded if needed), plus camel safari with traditional dinner under desert stars near Khuri. You’ll also get a local mobile phone to use throughout your journey for peace of mind.