google castle and king... i have used them twice with complete satisfaction

'Indian Moments', made arrangements for me on my first trip to India and did an excellent job. As upscale as you require.
http://www.indianmoments.com/home.asp

We were very happy with yatrik.com. Ignore the weird website!

http://www.fodors.com/community/asia/bruce-and-marija-go-to-india.cfm

We haven't gone yet, but we're using Louise Nicholson, highly recommended by many friends, is organzing our trip

www.indianicholson.com

Specializes in upscale, yet also plans off-the-beaten track and affordable trips (like ours) for individuals and groups. She's a Brit based in NY who spends half her time in India leading art, cultural and tribal tours (also wrote the Natl Geo guidebook). She works with a team of drivers and guides, and includes cool, customized experiences.

Oops, sorry about the typo and the wrong link. The correct one is www.louisesindia.com

Thanks for all the recommendations. I'm checking them out.

Bookmarking

Crosscheck I just signed up for Louise's newsletter. Hoping to go back to India next summer and visit the north this time around. Would love to hear about your trip after you get back.

My vote goes to Indian Panaroma. Two years ago we searched the fodor's forums for our trip to India and chose them. Faith and her staff truly took care of us every step of the way. From the initial planning through our entire way while we were in India. We had a truly remarkable journey and we owe it to them. We visited many cities while in India and were always taken care of from the moment we arrived from an airline flight or driven from one city to another. Everything worked like clockwork, and that is not an easy feat in India!

Just a quick addition. We went upscale.

Contact VP Singh, Legendsandpalaces.com.
You can arrange a private tour with him, staying at whatever hotels you choose(he will make excellent recommendations) at a price less than most upscale (such as Tauck) tour companies will charge, and your visit to India will be much more meaningful, interesting and enjoyable.
You will have flexibility, not have to deal with rigid schedules, and truly experience the country and people.
VP is a frequent poster on this Board. Just search his name and you will get a feel for him,FYI, my wife and I used him on a 17 day tour in 2006 and consider him to be the best Guide we ever had.
Whatever you decide, have a great trip.

We are using VP Singh's company. Our trip is not until Feb so far he has been excellent. Immediately responsive, very helpful suggestions. Got all the reservations we wanted at good price.

Hi Caryn.

Enjoy the planning--great fun!!

Agree with GDKSS re Indianpanorama. Wonderful family company based in South India, that has grown over the yrs to a national one due to its success at planning trips to India.

Faith can plan for any budget level you want, and is as familiar with upscale as with moderately-priced lodgings. There are suggested itineraries on their informative website (check the news/updates and photo gallery) but of course, these are completely flexible.

Here's the website:
http://indianpanorama.in/

Good luck, and have a great trip, whomever you choose to assist!