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If you live outside Rajsthan then you have both options of train and flight to reach there. inside Rajsthan, for intercity travel use buses they are affordable and convenient. Travel during night from one city to other it will save time.
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By Train is best to explore Rajasthan. You should plan it in 2 to 3 tours as Rajasthan is very big state nd it's not easy to cover it in Single Journey. Jaipur, Ajmer, Bharatpur Tour Bikaner, Jodhpur, Jaisalmer Tour Udaipur, Mount Abu, Chittorgarh tour
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