On arrival in Delhi, you’ll be taken to your hotel, nestled among the narrow alleys of Chandni Chowk in Old Delhi.

Stay: Two nights in a Jharoka Room at the Haveli Dharampura

After breakfast, you’ll board a high-speed train to Agra where you’ll be met by your private guide. India’s capital during the 16th and 17th centuries, the city is home to an outstanding collection of Mughal architecture. Tour the mighty Agra Fort, wander through the white apartments of Emperor Shah Jahan and visit the Tomb of Itimadud-Daulah, otherwise known as the ‘Baby Taj’ with its white marble coating and inlaid stones.

Your tour of Agra ends with a sunset visit to the greatest Indian monument of all – the Taj Mahal. A long-standing symbol of love and devotion, the craftsmanship of the Taj is sublime. The structure is even more impressive up close when you can admire in close detail the semi-precious stones inlaid into the marble in intricate patterns.

Stay: One night in a deluxe garden view room at Trident, Agra.

Today your journey continues to Jaipur, with a stop along the way at the deserted 16 century city of Fatehpur Sikri. The most important artistic centre in South Asia in its heyday, the city was abandoned soon after completion but its former wealth can still be seen in the exquisitely preserved remains.

Then come the rose-coloured terra cotta buildings that give Jaipur its nickname of the Pink City. Here you’ll find streets lined with magnificent palaces, ancient mansions and bazaars teeming with people, camels, horses and vehicles. Drive past the magnificent Hawa Mahal, otherwise known as the Palace of the Winds. This is just an elaborate facade behind which the ladies of the court used to sit and observe life going on in the streets below.

In the afternoon you can visit Maharaja’s City Palace, the Observatory, the Albert Hall Museum and the tranquil Ram Niwas Gardens.

Stay: Two nights in a suite at Dera Mandawa

After breakfast, you will drive to the small Rajasthan town of Deogarh and spend the afternoon, exploring the local village and surrounding countryside.

Tonight you will be staying in a small boutique hotel in the heart of the Aravalli Hills. Dev Shree is situated on the edge of the Ragho Sagar lake, the perfect spot for picnicking and observing the huge array of migrant birds. There will also be the opportunity to enjoy sundowners at the Gokul Fort, perched on a hill overlooking the lake.

Stay: One night in a suite at Dev Shree

Now you set off for Udaipur, but before you reach the City of Dreams you’ll call in at the massive 15th-century fort at Kumbhalgarh. One of the most impressive in the ancient Kingdom of Mewar, this vast building has temples and palaces within its walls and a wildlife sanctuary with wolves, leopards and flying squirrels on the outside. After Kumbhalgarh comes Udaipur. Regarded as India’s most romantic city, Udaipur is a symphony of white marble palaces, placid blue lakes and green hills – a colourful contrast to the stark and arid countryside.

From your hotel overlooking the city, you’ll be able to visit the Jagdish Temple – noted for its elephant motif carvings – and the 1567 grand City Palace that stands on the banks of Lake Pichola. Within its crenulated walls and triple-arched gate are four major palaces and several smaller royal residences connected by delightful courtyards, corridors and gardens. The Crystal Gallery at the Fateh Prakash Hotel offers a rare collection of Osler’s crystal – ordered from England by the current Maharana in 1877 and including chandeliers, chairs, dressing tables and a bed – all made from crystal. In the afternoon a boat ride across the lake provides yet another photo opportunity.

Stay: Two nights in a lakeside room at Amet Haveli

On your tenth day you drive through the rugged-yet-beautiful Aravalli Hills to reach the Jain Temples of Ranakpur. You pause here to soak up the magnitude of the 15th century Chaumukha Temple, dedicated to Adinath and comprising 29 halls supported by 1,444 marble pillars, each one individually carved. Then it’s time to journey on to Rawla Narlai. Set in a small, 17th-century village, this is the perfect place to appreciate the surrounding countryside with its richly forested hills and dramatic rocky outcrops. You’ll gain an insight into Rajasthan that few of today’s visitors have the privilege of seeing. It is one of the most beautiful parts of the state; the sort of place in which to relax, feed monkeys as they come down the hill as a prayer offering to Lord Hanuman, go on jeep safaris and visit an ancient step-well.

Stay: One night in a grand heritage room at Rawla Narlai

Take an early morning walk around Narlai before embarking on a three-hour drive to a spectacular city seemingly growing out of the sands of the Great Thar Desert. Founded in 1459 AD as the showpiece of the wealthy Kingdom of Marwar, Jodhpur is a mecca for dedicated sightseers. Palace follows fort follows temple and your tour will take in the very best. The Mehrangarh Fort, for example, is a five-kilometre complex dominating the city’s near-perpendicular hills. It features an intricately decorated red sandstone palace with a museum featuring palanquins, howdahs, royal cradles, miniature paintings of various schools, folk music instruments, costumes and impressive armour.

Stay: Two nights in a superior room at Ratan Villas

After a morning relaxing, you’ll fly back to Delhi airport for a final evening at leisure.

Stay: One night in a deluxe room at JW Marriott New Delhi Aerocity