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Delhi, Agra (Taj Mahal), Jaipur. A week, easily extended with Udaipur or Varanasi. Private driver is the way.
Build this tripDay 1 Delhi arrival. Days 1-2 Delhi: Old Delhi rickshaw, Jama Masjid, Humayun's Tomb, Qutub Minar. Day 3 drive to Agra (4h). Day 4 Taj Mahal sunrise, Agra Fort, drive to Jaipur (5h). Days 5-6 Jaipur: Amber Fort elephant ride, City Palace, Hawa Mahal, Galtaji. Day 7 drive back to Delhi (5h), fly home.
October-March (avoid hot season April-June).