Contact VP Singh, LegendsandPalaces.com.
He does not do "cookie-cutter" tours, and can provide you with exactly what you are lookingg for.

We loved udaipur and Jodhpur and we drove between them..

I used castle and king in Delhi...google them

Thanks JerryS, have you used them yourself ?

Kmkrn, I have heard a lot of Castle & King. How was your experience ? If you don't mind can you email me your thoughts ? Did they create what you wanted from them ? My email ourfamilytravel at gmail dot com..

Thanks
Kush

shubha, Yes, We used him in 2006. He prepared a 17 day itinerary for us, visiting mostly Rajasthan (15 days) and then Mumbai (we wanted to leave from Mumbai). We stayed in many heritage hotels, forts and very unique places. For the most part they were not 4 or 5 star but were, nonetheless, excellent.
I was initially hesitant about visiting India, but the trip with VP was just fantastic and will be remembered forever.
FYI, this visit to India was the beginning of our 8 month around the world trip. Quite frankly, it was the highlight of the trip.
Have a great trip

Jerry

Hi Kush, I would second the recommendation. We used Castle and King and just returned from our trip with our 21 and 17 yr old kids. The drivers were safe, the guides were very good, and some were excellent. I don't know if you have traveled with a guided tour, but I must say, it made it easy! I did read the blogs myself so had an idea of what I wanted to do but Arvind also had suggestions.
Has your family traveled much? Have they been to India before? I just finished my detailing my trip so you can click on my name to see what we did.
Evelyn

Thanks Evelyn, yep we are pretty well travelled family I am originally from India, but south India but haven't travelled to Rajasthan yet. My kids have also been to India before , but we would like to plan a unique holiday which is stress free

we also used castle and king- just returned from 2 weeks over xmas. mr arvind booked all our flights and hotels, our driver and guides. he and i went back and forth over the itinerary several times til we were both happy, and i made hotel suggestions as did he, and together we planned hotels (the ones he suggested worked out great. be specific about what you want- we wanted a luxury tented experience, a palace experience etc, so let him know. there are many options, so he can help! the beauty of having them book your flights is that if there are any changes in flight times (and there were- the dehli fogs meant that flight times were changed same day- castle and king kept up with the changes, and notified us and got us there- flights can depart hours EARLIER than scheduled, so this was a great resource to have!

Shubha

We stayed in Jaiwana Haveli in Udaipur. It had fantastic views, and overlooked the Lake Palace. The owners arranged for a car to pick us up from Jaipur. They also arranged the city tour of Udaipur. We also stopped in Chittorgarh when travelling to Udaipur. The Jaiwana Haveli has very good reviews on Tripadvisor and other travel sites.

In Jaipur, the RTDC conducted very inexpensive city tours. We stayed in the Ramada, which was quite a decent hotel.