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If you are planning your trip from New Delhi, the India Ministry of Tourism's office on Janpath is worth a visit.
You can pick up maps and information about approved guides at the India Ministry of Tourism offices in Agra, Khajuraho, and Varanasi's Cantonment, and at an information desk at Varanasi's airport. The Madhya Pradesh State Tourism Development Corporation, one of India's better state tourist offices, has friendly staff and information on Khajuraho.
The Uttar Pradesh State Tourism Development Corporation arranges tours and cars in Agra. The New Delhi office (centrally located near the Imperial Hotel) has maps, brochures, and information on approved guides. The best information at Varanasi's Uttar Pradesh State Tourism office is in Hindi, but the staff can still help you, and there's a satellite desk at the train station.
India Ministry of Tourism (88 Janpath, Connaught Place, Delhi, 110001. 011/23320005. www.incredibleindia.org.)
Madhya Pradesh State Tourism Corporation. The tourism office can help organize a car and provide maps and information. Near Circuit House, Khajuraho, Madhya Pradesh, 471606. 768/627–4051. At airport, 471606. www.mptourism.com.
Uttar Pradesh Tourist Office (Chandralok Bldg., 36 Janpath, Central Delhi, Delhi, 110001. 011/2332–2251. www.up-tourism.com. Rahi Tourist Bungalow, Sarnath, Varanasi, Uttar Pradesh, 221007. 0542/259–5965.)