Your adventure begins in Delhi. Famously tumultuous, India’s capital can be intimidating to the uninitiated – and it’s rarely acknowledged for its green spaces and quiet corners. For an alternative introduction, our expert guides will intersperse Delhi’s classic sights (the British buildings of New Delhi, the World Heritage tomb of Humayun, the Red Fort) with some more unexpected highlights – including volunteering in a langar kitchen at a Sikh temple, and an afternoon exploring the street murals and gardens of the Lodhi Colony. Though renowned for its Mughal architecture, some of the most exciting experiences in Delhi lie off the regular tourist trail.

The second, and perhaps most magnetic, corner of the Golden Triangle is Agra: former capital of the Mughal Empire and home of the Taj Mahal. One of the world’s most recognisable landmarks, the Taj needs no introduction – but there’s more to Agra beyonds its luminous marble dome. Agra Fort, for a start, with its grand halls and elegant courtyards; the wish-fulfilling temple of Mankameshwar; libraries founded by Muslim scholars – all of these echoing with stories of emperors, princesses and poets. By comparison to these historic sights, modern Agra gets short shrift from most visitors – but hop on an e-rickshaw and you’ll find there’s plenty of fun to be had in the bazaars and backstreets.

After the hustle of Delhi and Agra, Ramathra is a welcome change of pace. Your stay here revolves around Ramathra Fort, a remote hilltop fort converted into a heritage hotel by Ravi and Gitanjali Raj Pal. With nothing but sleepy countryside for miles around, this is a wonderfully secluded place to unwind for a couple of days: sipping cocktails on the fort ramparts, reading books by the pool, or going on excursions into Ramathra village and the surrounding farmland. The fort’s views over Kalisil Lake and the hills beyond are simply stunning, and we highly recommend a boat ride at sunset, when the landscape is bathed in a hazy glow.

The Pink City’s reputation precedes it, but there’s so much more to learn about Jaipur beyond its famously flamboyant architecture. With three nights in the city, we’ve arranged for you to experience some of Jaipur’s more offbeat attractions – from an elephant poo paper-making workshop to a walking tour themed around the jungle-fringed stepwells, aqueducts and reservoirs of Nahargarh. Of course, you’ll also see Jaipur’s iconic buildings – City Palace, Jantar Mantar Observatory, and the many-windowed Hawa Mahal – but there’ll be plenty of time in between to appreciate Jaipur’s quieter corners and sleepier suburbs.

It’s a long but scenic drive through the Rajasthani countryside from the Pink City to its blue cousin: Jodhpur. Laid-back and welcoming, Jodhpur is one of our favourite places to just wander and soak up the atmosphere, stopping to haggle at craft markets or to sip chai at rooftop restaurants. Mehrangarh Fort towers over it all, arguably the best-preserved and most magnificent of all Rajasthan’s forts, but there are less obvious attractions hidden around every corner: old stepwells, labyrinthine bazaars, and marble cenotaphs dedicated to maharajas past. For a more human dimension, add in a visit to the Sambhali Trust, where you can meet local women and have a go at traditional crafts.

Head back into rural Rajasthan as you make the short journey cross-country to Chanoud, a little village totally off the radar to most tourists. The reason you’re here is Chanoud Garh: a 300-year-old Rajput palace, lovingly restored by descendants of the royal family into a heritage hotel. A stay here, with its marble pillared corridors, grand durbar halls and manicured courtyards, is an absolute treat. Your hosts, the Singhs, are exceptional, providing guests with food cooked to family recipes, and organising thoughtful, culturally rich excursions into the local village, salt flats, farmlands and more.

Udaipur is an easy city to fall in love with. From your lakeside haveli, you’ll have three days to explore – joining one of our wonderful local guides to discover the city’s secrets: ornate mansions, traditional craft workshops, street-food hotspots and aarti ceremonies at lakeside bathing ghats. Then, in your own time, go for boat rides, sample the trendy café and restaurant scene, ramble through markets, or head out to the Monsoon Palace for views over the city. Of course, you can’t leave without exploring the pièce de resistance, City Palace: its hanging gardens, octagonal towers and marble arches sprawling along the shores of Lake Pichola.