I would have suggested you to travel via 'palace on wheels'. This is a luxury train operated by Govt. of India which gives an experience of royal life in Rajasthan. Since you are here to visit just cities, this train may not be helpful as it is more for overall tour.
You can though get help of trusted travel agents in Rajasthan in customizing your itinerary by putting up your requirements at traveltriangle.com. They get you quotes from multiple agents and you can choose the best one!
also while you are at Rajasthan, do not miss the shopping experience as you can get some mud made handicrafts at cheap prices which look like totally different than machine carved objects. Sarees (custom wear for Rajasthan women) and semi precious stone jewellery is also must buy.
Fondest memory: * Camel Ride
* Staying in a hut like resort - photo attached
* cultural dances
* hukka - a smoke pot but free of all the banned stuff. This is more for fun rather than for any 'experience'
* Puppet show - this was awesome!
* Palm reader
Favorite thing: I just had to add a bit about this colourful character, who is a huge tourist attraction inside the fort, smoking his Opium Pipe. He is almost always in the same spot, and draws curious visitors, who seem as fascinated by his exhibition of opium smoking as by his huge moustache!
Favorite thing: Take the opportunity to listen to the audio tour within the Mehrangarh Fort as it's one of the best I've listened to. You can pick it up after entering through the main entrance gate (Jai Pol) on the left. It's included in the price of admission. The commentary for the tour, authentic history and family lore; descriptive, evocative and highly informative, is embellished with the reminiscences and views of the Royal Family. The Maharaja Gaj Singh II, who ascended to the Gadi of Jodhpur in 1952 at the age of four, the 38th Rathore Chief in direct line from Rao Sheoji (1226-1273), shares his memories of the moving Raj Tilak Ceremony at Mehrangarh.
Legend has it that Brahmins of yester-year painted their homes blue in order to ward off mosquites. . .
Nowadays, the colour has spread to many other homes and buildings. It may not be effective for the original use, but it casts a beautiful hue over the town and makes for some amazing photos.
Fondest memory: Watching sunrise and sunset over the city, whether it's from the fort or from a rooftop restaurant, is even more appealing because of the vibrant colours.
Part of the wonder of travel is that we can not only learn from the places we go and people we meet, but that they can also learn from us. It takes some effort and forethought, but can deepen the relationships you make along the way.
We carried photos and postcards from Canada and brought them out whenever it was appropriate. Being able to share our lives with the Bishnois family we visited (among others) was a treat.