Rajasthan, literally ‘land of princes’, has an intriguing and bloody royal history.

Despite their past, or perhaps because of the chivalry of their forebears, Rajasthanis are honourable, loyal and very friendly people. This itinerary allows you time to explore the remnants of Rajasthan’s past, as well as time for shopping, chatting and chai in the many bazaars.

In contrast to the desert that dominates much of the state, Rajasthan’s towns and cities are spectacularly colourful.

The markets and bazaars of big towns are truly a feast for the senses, and this itinerary allows plenty of time for you to explore at your own pace.

Day 1 Mumbai

On arrival you will be met and transferred to your hotel. Mumbai’s weathered Victorian mansions — some still privately owned — and grand public buildings, many beautifully lit at night, stand as lingering reminders of the days of the British Raj. However, the signs of modern Mumbai’s phenomenal growth can be seen at every turn.

Day 2 Mumbai

Spend the day sightseeing with a local guide, including an excursion to Elephanta Caves, the Gateway of India and a visit to Mumbai’s favourite playground Chowpatty Beach. Later in the afternoon head to the landmark Taj Mahal Hotel for high tea, or perhaps a late afternoon gin and tonic; and if you have any energy left after all of that, then hit the Mumbai night life – bars, pubs and great restaurants.

Day 3 Udaipur

Morning flight to Udaipur, where you will be met and transferred to your hotel. Late afternoon take a sunset boat-cruise on the beautiful placid Lake Pichola.

Day 4 Udaipur

Built along three lakes and ringed by green hills, Udaipur has been called a ‘Venice of the East’. In the morning you will take a city tour, including the City Palace – a majestic architectural marvel towering over Lake Pichola – and the 350-year-old Jagdish temple.

Day 5 Udaipur

Day free for exploring Udaipur at your own pace.

Day 6 Jodhpur

Drive 6 hours to Jodhpur, with a stop en route at Ranakpur Jain Temples. Built in the 15th century, these temples are situated in a picturesque valley of the Aravalli hills. There are 1444 beautifully sculpted pillars in the temple, each different from the rest.

Day 7 Jodhpur

A full day tour exploring Jodhpur, known for its striking fort, stately palaces and gracious buildings. There are many great fortresses throughout Rajasthan, but none compare with the majestic Mehrangarh Fort. Visit the heart of the bazaars for a view of local artisans at work, and join in with locals shopping for their wares.

Day 8 Jaisalmer

After breakfast leave Jodhpur for Jaisalmer, a 5 hour drive; arrive afternoon and check into hotel. Rising out of the heart of the Thar desert, the sandstone used to construct much of Jaisalmer gives the city a yellow glow.

Day 9 Jaisalmer

Morning sightseeing tour of Jaisalmer city. The Golden Fort of Jaisalmer used to be a regular stop for the caravans plying on the ancient silk route, and was a major trading centre. In the afternoon drive to Sam sand dunes for a short camel ride, followed by dinner and a Rajasthani dance performance.

Day 10 Bikaner

Drive 5 hours to Bikaner. Arrive Bikaner early afternoon; after hotel check in, head out on a short sightseeing tour of the city, including Asia’s only camel breeding farm.

Day 11 Jaipur

After breakfast, drive 5-6 hours to Jaipur; check into hotel and spend the rest of the day at leisure. Jaipur is a picturesque city of broad avenues and narrow lane ways, fairy-tale palaces and rugged fortresses perched on barren hills.

Day 12 Jaipur

Spend the day with a local guide, with visits to extravagant Amber Fort, the sprawling City Palace and Maharaja Jai Singh’s astronomy park, including a sun dial that tells the time with 30 second accuracy!

Day 13 Jaipur

Day free for walking and shopping in the old city, or just relaxing at your hotel. Be sure to try a lassi or kulfi at one of the busy shops in the bazaar area.

Day 14 Agra

In the morning drive 6 hours to Agra, with a visit en route to the deserted ancient city of Fatehpur Sikri, a former capital of the Mughal empire. Arrive Agra late afternoon, check into hotel and enjoy the rest of the day at leisure.

Day 15 Delhi

It needs no introduction – the Taj Mahal. Recently re-opened for sunrise, you will explore for as long as you desire, while an expert local guide explains all the intricacies, history and myth of ‘the Taj’. After lunch visit Agra Fort, which is an architectural and historical wonder itself. Afternoon drive 4 hours to Delhi.

Day 16 Delhi

Full day sightseeing with guide. Among the principal sights of Delhi are the Red Fort; India’s largest mosque Jama Masjid; the chaotic shopping street of Chandni Chowk; and the twisting, ancient laneways of Old Delhi.

Day 17 Delhi

Day free for sightseeing or shopping, which is not to be missed in Delhi, with a huge range of clothes, leather goods, art, handicrafts and bookshops. In the evening transfer to airport for flights home or to onward Indian destination for further travel.