Kicking off your India experience in Delhi is a baptism of fire in the best possible way. One of the world’s oldest and most chaotic cities, Delhi has layers upon layers of culture and history. It’s vast, and it can be totally bamboozling to the uninitiated. Luckily, that’s not going to be you. The key to getting the most out of Delhi is to experience it with a local — and not just any local, someone who really knows how this place ticks. From the British colonial buildings and peaceful gardens of New Delhi to the grand mosques and bazaars of Old Delhi, our outstanding local guides will get you beyond the usual tourist sites and under the skin of India’s capital.

Agra is famous for one thing and one thing only: the Taj Mahal. But this oft-overlooked city has much more to it than ‘just’ the world’s most beautiful building. Start by stepping into the world of the Mughals at Agra Fort, a World Heritage Site in its own right, where the imprisoned Emperor Akbar spent his final years looking out towards his prized creation. Then, drop into the Sheroes Hangout, where acid attack survivors have found family and purpose running a successful café. Agra has plenty to keep you entertained at nightfall, from sunsets over the Yamuna River to live concerts, bar-hopping, bowling, and (of course) the Taj Mahal in all its glory.

The third point of the Golden Triangle, the ‘pink city’ of Jaipur is one of our favorite places in India. You could spend a lifetime here – but with just three days, we’ve had to be judicious. Start with a tour of Amber Fort, pre-Jaipur bastion of the Kachwaha Rajputs, heading from there into the hidden alleys, temples and stepwells of old Amber town. Rise before dawn to catch the city at its most serene and glowing, gliding through the streets in a rickshaw as it comes to life, then explore the eccentric legacy of Jaipur’s founding father as you visit Jai Singh’s City Palace and Observatory. As always, our local guides are what make these experiences really special.

Shahpura is where we diverge from the Golden Triangle entirely and head off-piste into the Rajasthani countryside, to the home of the former maharajahes of Shahpura. Surrounded by pasture and lakes, it’s the perfect respite from the clamor of Delhi, Agra and Jaipur: think candlelit dinners in the garden, excursions to Bhil minority villages, and plenty of time to relax by the pool and soak up your surroundings (which are truly lovely). The former royal family still live onsite, often mingling with guests, and there’s a wonderful range of in-house experiences to enjoy, from yoga and acupressure to boating, cycle rides and a visit to a local fort.

Your final destination is Udaipur, and it just might be the highlight of your trip. This chilled-out, lakeside city has bags of charm, as you’ll find out with the help of one of our brilliant local guides. They’ll introduce you to artisans keeping traditional crafts alive, show you where to find the best street food, take you down narrow lanes to hidden delights, and tell you the stories that bring the culture and history of Udaipur to life. Best of all, you’ll be staying at yet another beautiful heritage property right on the lake, eating your meals by the water with views of the city’s bathing ghats and ‘floating’ palaces. Udaipur is a magical place to conclude your adventure.