From the vibrantly hued turbans of the Rajput menfolk to the bedecked camels that roam the dunes, Rajasthan certainly catches the eye. Colossal forts and fairy tale palaces add a touch of historic poignance to this, The Land of Kings.

Begin your explorations in Jodhpur, famed for the towering Mehrangarh Fort surrounded by the houses of the iconic Blue City with its mediaeval alleyways and scented streets. Spend a night within the red sandstone walls of an 18th-century haveli in the Walled City, or in the restored chambers of India’s first heritage hotel, once home to royalty. Whatever accommodation you choose, expect opulence and comfort like never before.

The Golden City of Jaisalmer rises from the sands like a mirage. Within the ramparts of the city’s main fort lie a warren of twisting lanes alive with shops selling bright embroideries, clothes and irresistible mementos. Relive the excitement of the time in a luxury tent that draws inspiration from the royal caravan sites of Rajputana, and give in to the pleasure of your own personal butler service in the desert.

In Bikaner, marvel at the intricate jharokas and jaali screens of the captivating Junagarh Fort and the elaborately decorated facades of the city’s famous havelis, and experience that same level of luxury when you retire for the night.

In Udaipur, wander ancient thoroughfares and colourful markets with the purple haze of the Aravali Hills as your backdrop. Take a boat ride on the serene Lake Pichola before visiting the city’s well preserved palaces and temples. A short drive away in Chittorgarh stands the magnificent fort that rises out of the plains like a behemoth. Shrouded by sombre tales of self-sacrifice and martyrdom, the fort holds a special place in the hearts of many Rajputs. In nearby Ranakpur, gaze upon the milky white Jain temples that are a marvellous feat of devotion, and in Kumbhalgarh explore yet another romantic fort.

Head to Jawai for a chance to spot leopards, with the added bonus of luxury tented accommodation. Take in the quaint charm of Dungarpur with a visit to its old palace, but spare some time to enjoy the area’s rich bird life that you can espy from the confines of your heritage hotel.

Jaipur, despite its crowded roads, promises pockets of calm within the walls of its historical gems. The honeycombed Hawa Mahal, the gorgeous City Palace and the Amber Fort just outside the city’s boundaries are all worth a visit.

Don your safari suit in Ranthambore and keep an eye out for a rustle in the tall grass as you sip a cocktail in your luxury camp. Famed for its population of tigers, Ranthambore National Park, was once the hunting ground of the Maharajas, but now, happily, plays a major role in the conservation of the striped beasts.

Escape the crowds in Bundi, a little town known most famously for its palace adorned with alfresco paintings, and a little further on in Kota, you can feast your eyes on the expertly-executed miniature paintings of the City Palace.

There really is a lot to see and do in Rajasthan, and whether you’re relaxing in an infinity pool with a drink in your hand or haggling over a souvenir in the by-lanes of a fortress marketplace, the charm of the desert is never far away.