Start your morning off with a visit to the city's best-known place of worship: the three-story Jagdish Temple. Dating back to 1651, this gorgeous temple features around 100 pillars intricately carved with scenes from Hindu mythology.

Just up the road from the temple stands one of Udaipur’s most important attractions: the sprawling City Palace, the largest in the state. The complex consists of 11 palaces built over a period of four and a half centuries, all of which are interconnected by passageways. Highlights include the City Palace Museum, featuring traditional artwork, royal regalia, and weaponry.

After visiting the temple, stop for a quick lunch at one of the restaurants at the City Palace before making your way to the outskirts of town to visit Sajjangarh, aka Monsoon Palace, a 19th-century palace perched on a hill overlooking the city and its lakes. This 9-story structure was originally intended to be an astrological center, but instead became more of a destination for watching monsoon clouds, hence its nickname. It's also a great place to check out the sunset over the city.

Once the sun has set, embark on a romantic dinner cruise on Lake Pichola. While some travelers enjoy simply cruising on the waters, for something special, make your way out to Jag Mandir Palace (aka Lake Garden Palace), situated on an island in the lake. Here you can not only experience the island's history and architecture, but also opt for a buffet dinner served right in the middle of the lake.