Kumbhalgarh fort - an ancient fort (Largest fort too), a birth place of maharna pratap. Amazing history and yes it is our heritage fort in good maintained condition. Very nice resorts and other staying facilities are available nearby. You need little amount of physical activity to climb the hill and need 2-3 hours to explore the fort. And really if you want to explore whole fort specially ruin jain temples on other side of fort than you need 4-5 hours. Take safari ride too which take you in jungle.
Way back we went to Maharana pratap museum which is famous for it's light and soundshow. Entry fee is Rs. 100/- and it is worth to pay. Here you can have all history of mewar ruler specially maharana pratap life.