Begin your journey in New Delhi, both the current capital and the former capital of the Mughal Empire. Highlights of any trip to Delhi are the sites those Mughals left behind, including a visit to Humayun’s Tomb, Qutb Minar and the Red Fort. Stay in one of Delhi’s boutique hotels for a unique and comfortable stay — there are many.

Travel on the fast train first class to Agra and stay in one of India’s grandest hotels with a view of the Taj Mahal. After your visit to the Taj, hire a car to visit nearby Fatehpur Sikri, a fortified Mughal settlement with unique and well-maintained architecture from the 16th century.

Ask your hotel to arrange a car to take you to Ranthambore National Park, a Bengal tiger reserve. Hire a guide for a Jeep safari to guarantee your tiger sighting. Other species in the park include crocodiles, pythons, jackals and leopards. There are five-star hotels outside of the park — enjoy seeing the luxury accommodations that the region has to offer.

From the park area, drive to Bundi for a retreat into the history of Rajasthan. See some of the best-preserved Indian royal wall paintings in Bundi Palace; visit Taragarh Fort, a Rajputi structure believed to be one of the oldest forts in Rajasthan; shop for unique gifts at the Sadar Bazaar. Stay in a local heritage hotel for old-world character and modern amenities with views of the palace.

After Rajasthan, arrange for a car to take you 5.5 hours to Udaipur, home of some of the most luxurious hotels in India. Said to be one of the most romantic places in India, Udaipur is an exceptional place to walk, shop the street stalls and admire the architecture and the view of Lake Pichola. Visit the City Palace in Jaipur, one of the largest palaces in Rajasthan, owned by the Mewar royal family. You can also check out the maharaja’s classic car collection.

Next, take a day trip to nearby Kumbhalgarh Fort in the Aravalli Hills, built in the 15th century with a 22-mile-long fortified wall that can be walked in its entirety for spectacular views of the Thar Desert.

The next day, drive to the Blue City, Jodhpur, and stay at a heritage hotel with stunning views of the city’s magnificent Mehrangarh Fort. Visit the Mehrangarh Museum Trust to see India’s finest gallery of miniature paintings.

Finally, drive to Jaisalmer and stay at a five-star hotel just outside of town in the desert. Hire a guide for a luxury camel safari into the Thar Desert for the day, or stay overnight in well-appointed tent suites with a pool and local cuisine prepared on site. This is an unforgettable tour of a lifetime.