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independent travel in India

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We in our early 60s are planning a trip to Delhi in November for 3 weeks. We are a little nervous but this is our big chance. We would like to have control of our day to day routine and therefore would prefer to be independent. If we plan to travel by train to Rajasthan, perhaps include the Pushkar Camel Fair, then to Varanasi and Bodh Gaya , use hotel shuttles and local taxis of various types and book hotels over the internet...where could we go wrong? I know many people use agents to book drivers and tours but we are reluctant to hand it all over... Is there anyone who has tried this sort of thing ?

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