At this writing, domestic airlines are considering re-starting service to Agra's airport—in the past, companies had found it unprofitable to fly here, since Agra is so close to Delhi and people can sometimes get there faster (and more enjoyably) by car (four hours) or train (three hours). A few airlines may begin service again by early 2008. The airports in Bhopal, Khajuraho, Lucknow, and Varanasi are all connected by air from Delhi and other cities, and the airport in Patna, the capital of Bihar, can be used to access Bodhgaya on a bumpy two-hour drive. Train service is superb, as the region is connected by several local and express trains originating in Delhi and other major cities. Traveling this way offers great views of the countryside, but keep in mind that if you travel in an air-conditioned car, the views will be obstructed by dirty, sealed windows. A few of the offerings include the Shatabdi Express, India's fastest train, which runs daily along the Delhi-Agra-Gwalior-Jhansi-Bhopal route. You can get off at Jhansi for the short drive to Orchha. The Marudhar Express travels the Jodhpur-Jaipur-Agra-Lucknow-Varanasi route daily, which comes in handy for those coming off a trip to Rajasthan. There are tons of other options, some of wich are much slower but more convenient if you want to go directly from Delhi to Varanasi, for example. The Indian Railways Web site has a complete itinerary www.indianrail.gov.in. Your best bet is to arrange your tickets through an Indian travel agent before you land in Delhi and then pick them up at the office. If you're going to be traveling during the peak season, make reservations well in advance. Train service is not currently available to Khajuraho, but a railway is being constructed.
Bus travel is probably the cheapest option, but it's only for the truly adventurous, since local schedules are difficult to come by and service is spotty. You can book a seat on a private, air-conditioned bus for travel between the cities through any local travel agent.
Auto-rickshaws and taxis are a cheap, convenient option for getting around in all the big cities, and can also be hired for an entire day of sightseeing. The only form of public transportation is the local bus lines, which are not recommended.