Delhi, the vibrant capital of India, is steeped in a rich history spanning millennia. Its origins trace back to the ancient Indraprastha, mentioned in Hindu epics like the Mahabharata. Over centuries, Delhi evolved through various dynasties, each erecting magnificent structures like the Qutub Minar, symbolizing Islamic architecture's zenith in India.

The Mughals, starting with Babur, further embellished Delhi with grand edifices like the Red Fort and Humayun's Tomb, establishing it as a symbol of power and opulence. The city reached its zenith under Shah Jahan, who built the majestic Taj Mahal in nearby Agra.

British colonial rule marked a relatively new chapter, making Delhi the capital of British India in 1911. Post-independence, it became the seat of the Indian government in 1947, witnessing rapid modernization and urban development. Today, Delhi is a testament to India's diverse cultural heritage, blending ancient legacies with modern aspirations.

Cycle-rickshaws are a relaxing, and eco-friendly, way to explore the lanes of Old Delhi. Different streets are to be given over to different trades in this atmospheric district, which formed the hub of the former Mughal city. Dominating its skyline is the massive white dome of the Jama Masjid mosque, the next stop on your tour. After admiring the extraordinary view from its minarets, enjoy lunch at one of the famous kebab restaurants below, before driving past the Raj-era capital to Humayun’s Tomb, one of the India’s greatest early Mughal buildings. Older still is the iconic Qutb Minar victory tower on Delhi’s southern outskirts, the day’s final stop.

Agra’s great Mughal Fort, on the banks of the Yamuna River, was where Emperor Shah Jahan, creator of the Taj Mahal, was imprisoned at the end of his life by his rather fanatical son, Aurangzeb – the old man is said to have wiled away his days gazing at the tomb through the windows of a gilded rooftop pavilion. On the opposite bank, the exquisitely decorated Itimad-ud Daulah tomb provides the next stop on today’s tour. The mausoleum’s inlay work foreshadowed that of the Taj, which you’ll visit towards the end of the afternoon, when the changing light transforms the marble surfaces from a pale ochre to orange and crimson.

Fatehpur Sikri, the former capital of Emperor Akbar, was built at lavish expense at end of the 16th century but only occupied for sixteen years, when the court decamped moved to Lahore. Today, the finely carved, dark-red sandstone buildings remain in fine condition and vividly evoke the opulence of the Mughal era. Among many highlights are the Diwan-i-Khas audience hall, with its richly carved throne pillar, the beautiful Tomb of Sheikh Salim Chishti (a revered Sufi mystic) and Buland Darwaza gateway.

Today’s other sightseeing stop, the famous Chand Baori stepwell, lies just off the main Agra–Jaipur highway at Abhaneri. Its ornately carved steps provide a fine photo opportunity, and welcome chance to stretch your legs!

Perched on the rim of a dramatic escarpment, Amber Fort retains some of the finest interiors surviving from the 16th and 17th centuries in India, notably a glittering ‘Hall of Mirrors’, or ‘Sheesh Mahal’, lined with intricate mirror mosaics where the Maharaja and his consorts would enjoy music and poetry recitals. Anyone interested in traditional Rajasthani textiles will also enjoy a visit to the Anokhi Museum of Hand Printing, located in a beautifully restored haveli in Amber village.

Jaipur itself is a swirl of life and colour, and its numerous monuments and markets provide the focus for the rest of the day. You’ll begin at the famous City Palace complex, which includes the much photographed ‘Hawa Mahal’, or ‘Palace of Winds’, a five-storey façade of elaborately screened windows from where the women of the royal household used to watch processions in the streets below.

Rajasthan’s fourth city, Bikaner, rises from the eastern fringes of the Thar Desert, its medieval core encircled by rich pink sandstone ramparts. A crop of ancient Jain shrines and eccentric 19th-century havelis cluster in the sand-blown back lanes of the old town (several of them converted into delightful heritage hotels), but stately Junagadh Fort, on low ground to the north, is the main reason why so many of our guests choose to break the long journey to Jaisalmer here.

On the trade route from Central Asia to the sea ports of Gujarat, Bikaner is a northwest frontier town with charming havelis and temples. One of the few forts not built on a hilltop in Rajasthan and captured only once for a day by the Mughal court, the main sight in Bikaner is the Junagarh Fort. A fine medieval monument, it houses several palaces, pavilions and temples connected by paved courtyards, terraces and narrow staircases that showcase exquisite red and gold coloured sandstone carving.

Jaisalmer is the undisputed jewel of the Thar - a honey-coloured fortress town surrounded a huge expanse of parched scrub and sand. It lies a long journey west of Rajasthan’s main transport hubs, but once the iconic bastions have appeared on the horizon, you’ll know the effort has been worthwhile. For centuries an important stop for merchants’ caravans crossing the desert, the citadel and its surrounding streets hold a unique collection of beautifully carved, ochre-hued havelis and palaces, whose intricate stonework turns a striking molten colour in the light of late-afternoon. Its handicraft boutiques are particularly good for puppets and traditional textiles.

Begin your tour of Jaisalmer with a wander around the narrow, stone-paved alleyways of the citadel, which wind through a series of small squares to elaborately carved temples and fortified gateways, eventually converging on the main Chowk, where the Palace of the Maharawal is adorned with some of the finest carved stonework in the region. More painstakingly sculpted jarokha balconies and windows line the streets of the town below, where some of Jaisalmer’s wealthiest merchant families erected their havelis (courtyard mansions). A scattering of exquisite domed pavilions and shrines surround the Gadisar Tank, which used to be the area’s only source of water.

Capital of the former Kingdom of Marwar, Jodhpur owes its prominence to the trade route that once passed its gates, connecting the ports of Gujarat with the cities of the northern plains. The resulting wealth enabled the Marwari rulers to construct one of India’s most fabulous forts – Mehrangarh – on top of a near-vertical escarpment. The cuboid houses of the old town sprawling from its base are painted a hundred shades of blue – a practise said to denote the homes of local Brahmins (but which actually derives from attempts to discourage termites by adding copper sulphate to limewash). Also visible, to the south, is the enormous bulk of Umaid Bhavan, a palace built in 1929 by the local Maharaja.

The first half of the day’s journey takes us across a vast, dusty plain studded with giant boulder hills and old-fashioned market towns populated by semi-nomadic Rabari herders and other traditional Rajasthani castes. In the west, the shadowy wall of the Aravalli Mountains gradually grows more distinct. Before climbing into the range, you’ll pause at Ranakpur to visit a cluster of richly sculpted Jain temples. From there, the road ascends steeply then follows an undulating course through a rural hinterland inhabited mostly by Bhil farmers. Having checked into your hotel in Udaipur, you should have time to wander down to the lakeside to see the city’s great Rajput palaces in the sunset light.

Udaipur’s City Palace, seat of the Sisodia Dynasty, holds a feast of Rajput architecture and yields magnificent views over Pichola Lake to the Aravallis. After visiting its palaces, wander down to the Jagdish Temple nearby before heading into the old city to explore the markets. Late afternoon is the time to be at the water’s edge, soaking up the sunset colours and unique atmosphere of this romantic city. Enjoy a sunset high tea cruise on the lake in the evening.