Hi Sarang. There are a few ways to get to Nahargarh fort from Jaipur railway station. You can take a taxi/bus which will take you hardly 10 minutes. Walking distance is around 5 km and will take you approximately an hour to cover. The walking route till the fort passes through the city so safety should not be a problem. Later in the walk, however, there might be an uphill climb which may prove difficult if you are not prepared for such an activity. You could get in touch with some locals and ask them for more authentic advice. You can check out some trips here to get an idea of what the fort is all about and get a personalized account.
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By walking it will be a steep hill walk, you will not even find any shops on route to refresh if you are ready to do this adventure you should opt for walking... safety wise i don't think there will be an issue... but believe me it will be tough uphill task to reach the fort...
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Public transport is the best and safe. Take bus 8A from outside Jaipur railway station for maharani college and then shift to bus no AC1 for amer. It will drop you at starting uphill part of naharghar fort from their you took an auto to reach the fort.
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Try walking route for sunrise and sunset you will definitely love it. if you want to explore then hire a bike so you can do amber fort and monkey temple along with that.don’t do ola its outskirts so they charged a lot.