Don't let the disappointing City Palace in Jaipur put you off visiting the Amber Palace which is perched on a hill-top about 15 minutes' drive out of town. It is beautiful and huge, and full of interesting things to see. I hired a guide instead of the audio tour (but ignore the fake guides at the bottom of the hill, and make sure you talk to any potential guide for a while first to get a sense of how good they'll be) and it was one of my best experiences in Rajasthan.

Hire a taxi in Jaipur to take you.

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