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Itinerary Help for Trip to India

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I am just starting to plan a first trip to India that will likely take place a year from now. I have contacted one of the travel companies in India highly recommended on this forum and am hoping for Fodorite wisdom on our tentative itinerary. Thanks in advance for any suggestions!

Day 1 Arrive in Delhi
Day 2 Tour Old and New Delhi
Day 3 Fly to Varanasi arriving about noon, sightsee
Day 4 Morning boat cruise on Ganges, Sarnath
Day 5 Fly to Khajuraho arrivng at 3:30 pm, sightsee
Day 6 Drive to Jhansi, train to Agra arriving 8:30 pm
Day 7 Taj Mahal, Agra Fort
Day 8 Train to Ranthambore in the morning
Day 9 Ranthambore
Day 10 Drive to Jaipur, stopping at Fatehour Sikri
Day 11 Tour Jaipur
Day 12 Drive to Jodhpur, tour
Day 13 Drive to Udaipur, tour
Day 14 Udaipur
Day 15 Morning flight to Mumbai
Day 16 Mumbai
Day 17 Morning flight to Aurangabad, Ellora caves
Day 18 Ajanta Caves
Day 19 Depart from Mumbai

I can add more details but thought this would give a rough idea. We are two nights in most places except for one night in Khajuraho and Jodhpur.

We would be doing this tour with a driver and guides as we don't really want to attempt this on our own. Any thoughts?

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