Udaipur

A wooden boat departs from Rameshwar Ghat for a one-hour circuit of Lake Pichola — passing the Lake Palace Hotel (now a Taj property, impossible to visit without a reservation), the Jag Mandir island palace, and the full City Palace facade reflected in still water at golden hour.

The largest palace complex in Rajasthan — an 11-storey fusion of Rajput and Mughal architecture built by 22 successive Maharanas over 400 years. The Mor Chowk (Peacock Courtyard) with its glass and mosaic work is extraordinary.

Drive to the 19th-century hilltop palace of Sajjangarh (944m) for Udaipur's finest sunset — the entire lake system, the City Palace, and the Aravalli hills turning amber. Arrive 45 minutes before sunset for best views.

Walk from Gangaur Ghat through the old city — marble temples, spice merchants, silver jewellery workshops, and the narrow lanes of the historic mohallas. The Jagdish Temple, built in 1651, anchors the old city and is still an active place of worship.

A 2hr drive through the Aravalli hills to one of India's most dramatic forts — the wall is 36km long, the second longest in the world after the Great Wall of China. The fort was never conquered. Pair with Ranakpur's extraordinary Jain marble temples on the same route.

An 18th-century lakefront haveli museum with 100 rooms of royal artefacts, daily Rajasthani folk dance performances at 7pm (ghumer, kalbelia, bhavai), and the world's largest turban on display. Best evening experience in Udaipur.