From the Taj Mahal to the Thar Desert, and the Lakeshores of Udaipur
Ten days that trace the full breadth of Rajasthan — from the Taj Mahal in Agra, through the Pink City of Jaipur, deep into the Thar Desert at Bikaner and Jaisalmer, a night camped beneath the stars at the Sam Sand Dunes, and finally to the Blue City of Jodhpur and the lakeside romance of Udaipur.
The tour opens with the Taj Mahal at sunrise and Agra Fort, before continuing to Jaipur for two days of royal heritage — Amber Fort, the City Palace, and the Hawa Mahal — and an evening of Rajasthani culture at Chokhi Dhani village.
From Jaipur, the journey turns deep into desert country: Bikaner's Junagarh Fort and camel research centre, then Jaisalmer — the Golden City and one of the world's last 'living forts' — before a night camped at the Sam Sand Dunes, complete with a camel trek at sunset and folk music beneath an exceptionally starry desert sky.
The tour's final chapters bring Jodhpur's dramatic Mehrangarh Fort, rising 125 metres above the Blue City, and conclude in Udaipur — the City of Lakes — with a sunset boat ride on Lake Pichola past the floating Lake Palace, bringing this comprehensive circuit of Rajasthan's deserts, forts, and lakes to a fittingly romantic close.
What makes this journey special
Your journey, unfolded
Welcome to India! Transfer from Delhi Airport and drive directly to Agra (200 km, ~3–4 hrs). Check in to your hotel. Evening at leisure, or an optional visit to the Taj Mahal grounds for sunset views from outside the complex.
Rise early for the Taj Mahal at dawn — soft light, fewer crowds, and the most celebrated view in India. Visit Agra Fort, the Mughal Empire's red sandstone stronghold. Drive to Jaipur (240 km, ~5 hrs) and check in.
A full day in the Pink City. Amber Fort by jeep for the Sheesh Mahal and royal courtyard gardens. The City Palace, still home to the Jaipur royal family. The UNESCO-listed Jantar Mantar observatory. The iconic Hawa Mahal. Evening: folk dance, puppet shows, and a traditional Rajasthani dinner at Chokhi Dhani village.
Drive from Jaipur to Bikaner (330 km, ~6 hrs) into Rajasthan's northern desert belt. Check in. Afternoon: Junagarh Fort — built on flat ground rather than a hilltop, and never successfully captured — with ornate mirrored palace halls. Visit the National Research Centre on Camel, reflecting Bikaner's enduring identity as camel-breeding country.
Drive to Jaisalmer (330 km, ~6 hrs), deep into the Thar Desert. Check in. Evening: explore Jaisalmer Fort — one of the few 'living forts' in the world, where homes, shops, and temples still operate within its golden sandstone walls. At sunset, the whole town glows gold.
Morning: Patwon ki Haveli and Salim Singh ki Haveli — intricately carved merchant mansions in golden sandstone. Afternoon: drive to the Sam Sand Dunes (42 km, ~1 hr) for a camel trek across the dunes at sunset, followed by folk music and dinner at a desert camp, then a night under an exceptionally starry desert sky.
A peaceful desert sunrise before breakfast and checkout. Drive to Jodhpur (285 km, ~5.5 hrs). Check in to your hotel. Evening at leisure to explore the indigo-washed lanes of the old city.
Morning: Mehrangarh Fort — rising 125 metres on a sheer rock face, widely regarded as India's most dramatic fort. Jaswant Thada, a white marble cenotaph nearby. Afternoon: drive to Udaipur (250 km, ~5 hrs) through the Aravalli hills. Check in and enjoy the first sunset views over Lake Pichola.
A full day in the City of Lakes. The sprawling City Palace complex, the largest in Rajasthan. A sunset boat ride on Lake Pichola past the floating Lake Palace and Jagmandir island. Saheliyon ki Bari — the 'Garden of the Maidens', a formal 18th-century garden of fountains and lotus pools.
A relaxed final morning in Udaipur — perhaps one more lakeside walk or a rooftop coffee with City Palace views. Transfer to Maharana Pratap Airport for your departure flight. Tour concludes in Udaipur.
Inclusions & Exclusions
Included ✓
- ✓ 9 nights accommodation in handpicked hotels & one desert camp
- ✓ Daily breakfast throughout; dinner on Jaipur & Sam Dunes nights
- ✓ Private air-conditioned vehicle for all transfers & sightseeing
- ✓ English-speaking driver-guide throughout
- ✓ Sunset camel trek & overnight desert camp at Sam Sand Dunes
- ✓ All monument entry fees — forts, palaces & havelis
- ✓ Sunset boat ride on Lake Pichola, Udaipur
- ✓ Chokhi Dhani village evening experience
- ✓ All applicable taxes
Not Included ✗
- ✗ International flights to / from Delhi or Udaipur
- ✗ Travel insurance (strongly recommended)
- ✗ Lunches throughout
- ✗ Camera fees at monuments (nominal)
- ✗ Personal expenses & shopping
- ✗ Gratuities for driver-guide
Your questions, answered
The longest single drives are Jaipur–Bikaner and Bikaner–Jaisalmer (both around 330 km, ~6 hrs), reflecting the genuine distances involved in crossing Rajasthan's desert region. We schedule comfortable rest stops and aim to arrive at each destination by mid-to-late afternoon, leaving time to settle in before evening sightseeing. If you would prefer a more relaxed pace, we can extend the tour by 1-2 days to break up the longer driving days.
Accommodation ranges from comfortable fixed-tent 'luxury camps' with attached bathrooms to more basic swiss-tent setups, depending on the category you select. All include the sunset camel trek, a folk music and dance performance, and dinner under the stars. Nights can be genuinely cold in the cooler months (November–February) — warm layers are provided or recommended.
Yes — this itinerary is fully flexible. Some travellers remove Bikaner to shorten the tour by a day (driving directly from Jaipur to Jaisalmer, a longer single drive), while others extend with an additional night in Jaisalmer or add Ranakpur's Jain temple en route to Udaipur. Submit an enquiry for a customised version.
October to March is ideal — comfortable temperatures (15–28°C), clear skies, and the best conditions for sightseeing, fort treks, and wildlife safaris. April–June brings intense heat (up to 45°C); July–September is monsoon, with some relief from the heat but reduced safari access in the tiger reserves.
Absolutely. Every Discover India tour is fully private and built around your preferences. We can adjust the duration, swap destinations, change hotel categories, or add extensions. Submit an enquiry and our specialists will redesign the itinerary for you at no obligation.
We include carefully selected 4-star and 5-star hotels throughout — heritage havelis, palace hotels, and well-appointed properties near the wildlife reserves, all personally vetted by our team. Upgrades to palace hotels or luxury tented camps are available on request.
Most nationalities can apply for an Indian e-Visa online at indianvisaonline.gov.in. Processing typically takes 3–5 business days and costs $25–$80 USD depending on your nationality. Apply at least 2 weeks before travel.
Cancellations 60+ days before departure receive a full refund minus a small admin fee. 30–59 days: 75% refund. 15–29 days: 50% refund. Under 15 days: no refund. We strongly recommend comprehensive travel insurance.
