Adventure AsiaAI-assisted
India16 daysGroup 1-16

Rajasthan: Desert, Fort & Palace — 16 Days

Delhi to Agra via Thar Desert, Jodhpur, and Udaipur, with desert camping and cooking lessons

This 16-day itinerary traces a path through Rajasthan's principal cities and landscapes, beginning in Delhi and moving south through Bikaner, Jaisalmer, Jodhpur, and Udaipur before ending at the Taj Mahal in Agra. The route combines urban exploration—markets, temples, forts, palaces—with two extended stays in rural settings: an overnight camp in the Thar Desert with sunset meals and open-air sleeping, and a homestay in Khinwara offering unstructured time in the countryside. A cooking demonstration with a local family in Bikaner, participation in the Gurudwara Sis Ganj Sahib's community kitchen in Delhi, and several days of independent wandering through bazaars and old quarters form the core activities. Accommodation ranges across hotels, guesthouses, overnight trains, heritage properties, and basic desert camping. The journey is framed as a survey of Rajasthan's architecture, desert terrain, and domestic life rather than a rushed sightseeing tour.

Highlights

  • Overnight camping in the Thar Desert between Jaisalmer and Jodhpur, with sunset feast and open-air sleeping under the night sky
  • Cooking demonstration with a local family in Bikaner, learning to prepare regional dishes including chai and chapati
  • Participation in the community kitchen at Gurudwara Sis Ganj Sahib in Delhi, a Sikh shrine welcoming all visitors regardless of religion
  • The Taj Mahal at sunrise in Agra, viewed with a local guide and time for independent observation
  • Mehrangarh Fort in Jodhpur, a hilltop fortress overlooking the blue city with panoramic views across the skyline
  • Hawa Mahal in Jaipur, the five-storey pink-sandstone palace of winds, among the most photographed buildings in India
  • Amber Fort near Jaipur, featuring the Sheesh Mahal with mirror-lined walls and chambers
  • Bicycle rickshaw tour through Delhi's old quarter, including Chandni Chowk and Connaught Place
  • Pichola Lake boat ride at sunset in Udaipur, with views of Lake Palace and Jag Mandir Island
  • Walking tours of Jaisalmer's old town, a medieval trading centre built of yellow sandstone within a living fort

Day by day

1Arrival in DelhiDelhi · Humayun's Tomb · Qutub Minar · Red Fort
The journey begins in Delhi, India's capital. A welcome meeting is scheduled for 6 p.m., allowing time for early arrivals to begin exploring the city's streets and central monuments. Optional sightseeing before the meeting includes Humayun's Tomb (14th century), the Qutub Minar (11th century), and the Red Fort, a former residence of royal and British colonial figures. After the group convenes, an optional dinner offers an introduction to Delhi's food culture, with regional choices such as chicken tikka masala, vegetarian curries, or alternatives in the city's nightlife.
2Delhi Walking Tour and Overnight Train to BikanerChandni Chowk · Connaught Place · Old Delhi · Gurudwara Sis Ganj Sahib · Delhi to Bikaner
The day begins with a walking tour of Delhi's commercial and historical core, visiting Chandni Chowk and Connaught Place. A bicycle rickshaw ride follows through Old Delhi's congested streets, stopping at Gurudwara Sis Ganj Sahib, one of Delhi's oldest Sikh shrines. At this gurdwara, visitors participate in the community kitchen, preparing chapatis alongside volunteers. The shrine remains open to all visitors regardless of faith or caste. In the evening, an overnight train departs for Bikaner in central Rajasthan, arriving the following morning.
3Bikaner Orientation and Fortified CityBikaner · Old City
Bikaner, a fortified city in Rajasthan, greets arrivals with its distinctive architecture of red sandstone palaces and forts. An orientation walk with the local guide surveys the city's layout and landmarks. The afternoon remains free for independent exploration, with a tuk-tuk tour of the Old City offered as an option. Bikaner is known for its street food—particularly bhujia, a chickpea-based snack—and regional thali dinners. The city's layered history of merchant trading and royal patronage is visible in its market streets and palace architecture.
4Bikaner: Junagarh Fort and Cooking DemonstrationJunagarh Fort · street vendors · a local family's home
A full day is allocated for independent exploration, with Junagarh Fort recommended as a primary stop. The fort, built of red sandstone, displays interior courtyards and historical chambers. Chunilal sharbat, a regional cordial made with fruit or flower petals, is available at street vendors. In the evening, a cooking demonstration takes place at a local family's home. Participants observe and then prepare chai and chapati, learning regional techniques for both. Local knowledge includes the regional use of aloe vera as a food ingredient. After the preparation, the group joins the family for a shared dinner.
5Local Train to JaisalmerJaisalmer · the fort's interior alleyways
A local train carries the group southeast to Jaisalmer, arriving at the yellow sandstone citadel. The afternoon offers free time for rest and exploration of the city's layout. An orientation walk with the leader navigates the fort's interior alleyways, which contain intricately carved houses and markets. Local guide recommendations direct the group toward regional restaurants and food specialties for evening meals.
6Jaisalmer to Thar Desert Overnight CampJaisalmer · Thar Desert · Thar Desert overnight camp
The morning continues exploring Jaisalmer, a medieval trading centre that retains its sandstone fort architecture. In the afternoon, the group transfers by four-wheel-drive vehicle into the Thar Desert for an overnight camp. The journey traverses the open dunes, arriving at the camp site as light fades. Camp setup and campfire preparation occur collaboratively. Dinner is a vegetarian meal served at the fire, consisting of chapati, dal, rice, and vegetables. Overnight sleeping takes place in the open air on provided mattresses, pillows, sheets, and blankets—no tents obstruct views of the desert sky.
7Desert Sunrise and the Journey to JodhpurThar Desert · Jaisalmer · Jaisalmer to Jodhpur · a family-run homestay in the old town
An early morning departure captures the Thar Desert at first light, where the crack of dawn brings a display of color across the sand that few experiences can match. After a simple breakfast, you'll return by four-wheel-drive to Jaisalmer. The morning leaves you with free time to visit the city at your own pace before boarding an afternoon train to Jodhpur, the famous Blue City. Named for its distinctive blue-painted buildings, Jodhpur reveals itself as you arrive in the evening. You'll settle into a family-run homestay tucked within the old town, where you'll spend the night.
8Jodhpur: Markets, Fort, and Blue City ExplorationSadar Bazaar · Mehrangarh Fort · old town
A full day allows independent exploration of Jodhpur at the visitor's pace. Sadar Bazaar, one of India's oldest markets, surrounds a central clock tower and contains spice vendors, vegetable stalls, juice sellers, fabric merchants, and craft vendors selling bangles, textiles, and recorded music. Negotiation is expected at all market stalls. From the bazaar, the landscape rises to Mehrangarh Fort, a hilltop fortress overlooking the city. The fort is among Rajasthan's most preserved military structures, offering rampart views and exhibitions on royal life and military history. Street snacks throughout the old town offer regional food specialties. The blue-painted houses and narrow lanes create the distinctive character for which Jodhpur is known.
9Journey to Khinwara Homestay and Rural TransitionKhinwara · Khinwara homestay · a local farm
Travel moves northeast to Khinwara for a heritage homestay experience. The landscape transitions from Jodhpur's arid terrain through foothills toward the lakes surrounding Udaipur. Upon arrival, free time allows settling into the homestay and interaction with hosts. An optional drive to a local farm offers observation of agricultural life and informal conversation with the farming family over chai and cookies, providing informal exposure to rural daily life.
10Udaipur: Lake City and Palace ArchitectureUdaipur · Shopping districts · Pichola Lake · Rooftop restaurants
Travel continues to Udaipur, a city framed by rolling hills, white marble palaces, and multiple lakes. Walking tours of the old town introduce the city's geography and traditions of art, dance, and music. Shopping districts contain miniature paintings, silver work, leather goods, textiles, and decorative arts. The afternoon is allocated for independent activities, with an optional sunset boat ride on Pichola Lake viewing Lake Palace and Jag Mandir Island as light dims. Rooftop restaurants overlook the lake and provide dinner settings. The overall atmosphere emphasizes an unhurried engagement with the city's architectural heritage and waterfronts rather than rapid sightseeing.
11Udaipur: City Palace and Optional Cooking ClassUdaipur · City Palace
Extended free time allows deeper exploration. The City Palace, one of India's largest royal complexes, contains murals, antiques, royal furnishings, and historical exhibitions across multiple courtyards and chambers. A half-day hands-on cooking class is available as an optional activity, covering ingredient preparation and cooking techniques for a full Indian meal prepared and eaten by participants.
12Train to Jaipur: Pink City and Bazaar ExplorationJaipur · Bazaars throughout the old quarter · Royal City Palace · Raj Mandir Cinema
An early morning train travels north to Jaipur, the Pink City, arriving mid-morning. The city's streets display active animal and vehicle traffic—camels, motorcycles, rickshaws—and pedestrians in traditional Rajput dress. Bazaars throughout the old quarter sell textiles, semi-precious gems, and blue pottery, with negotiation expected. The Royal City Palace, a major courtyard complex with museums and gates, is among India's finest palace architectures. Optional evening entertainment includes watching a Bollywood film at Raj Mandir Cinema, a stylized venue known for elaborate productions combining romance, drama, and music.
13Jaipur: Hawa Mahal, Amber Fort, and Street CultureJaipur · Hawa Mahal · Amber Fort · Sheesh Mahal · Lassiwala · Jaipur streets · Jaipur bazaars
An optional hot air balloon flight at dawn provides an elevated perspective of Jaipur's layout and surrounding landscape. The Hawa Mahal, or Palace of the Winds, is a five-storey pink sandstone facade with honeycombed windows—the most photographed structure in India after the Taj Mahal. Situated on the eastern edge of the old city, it originally functioned to allow royal women to observe street activity unobserved. Travel northwest to Amber Fort, a hilltop complex served as the ancient capital's principal fortress. Inside Amber Fort, the Sheesh Mahal chamber features walls entirely covered with small mirrors, creating light reflections visible from a single flame. Independent exploration of street culture includes raj kachori chaat, a large flatbread served with chutney, yoghurt, chilli, and potato; and lassi, a yoghurt-based drink, available at Lassiwala on MI Road, Jaipur's oldest lassi shop. The afternoon may include further browsing in bazaars or rest at the hotel.
14Public Bus to Agra and the Taj MahalAgra · Taj Mahal · Akbar's Mausoleum
Travel east to Agra by public bus to visit the Taj Mahal, one of the Seven Wonders of the World. The white marble structure remains a significant monument in India. Visitors observe the building and gardens with a local guide providing historical context and architectural detail. Photography time is allocated. After the Taj Mahal, an optional motorized rickshaw tour covers additional Agra monuments, including Akbar's Mausoleum, a red sandstone and marble tomb constructed for the greatest Mughal emperor.
15Return to Delhi via TrainDelhi · the Taj Mahal
An optional early morning return visit to the Taj Mahal captures the structure at sunrise. A train journey northward returns the group to Delhi by afternoon or early evening. Remaining time in Delhi is unscheduled, allowing rest, final meals, or shopping. An informal group gathering in the evening offers a low-key conclusion to the trip.
16Delhi Departure
No scheduled activities remain on the final day. Departure times are determined by individual flight or transport arrangements. Visitors wishing to extend their stay may coordinate with booking agents before arrival.

Where you go

Map: Rajasthan: Desert, Fort & Palace — 16 Days route
Numbers follow the itinerary order. © Mapbox © OpenStreetMap
  1. 1Delhi
  2. 2Red Fort
  3. 3Old Delhi
  4. 4Bikaner
  5. 5Junagarh Fort
  6. 6Jaisalmer
  7. 7Thar Desert
  8. 8Jaisalmer
  9. 9Mehrangarh Fort
  10. 10Udaipur
  11. 11City Palace
  12. 12Jaipur
  13. 13Hawa Mahal
  14. 14Amber Fort
  15. 15Agra
  16. 16Taj Mahal
  17. 17Delhi

Included

  • What's Included
  • Accommodation
  • Hotel (5 nights), Overnight Train (1 night), Guesthouse (1 night), Camping (basic facilities) (1 night), Homestay (3 nights), Heritage Property (4 nights)
  • Meals
  • Breakfasts: 2, Lunches: 0, Dinners: 3
  • Vegetarian options are available on all meals throughout the adventure.
  • Vegetarian options available
  • Local Guide
  • Guided
  • This adventure is led by a local guide throughout. The main language of this adventure is English. Please contact us for other languages available.
  • Wifi
  • Wifi is available during the adventure. In some areas and / or accommodation / transport Wifi may be free.
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