Me and my family just did a really good Delhi and Agra sight seeing tour in Aug 2017 that was run through Delhi Agra Trip tour company. They were very responsive, organized, accommodating and efficient through the whole process. I reached out to them via their website after reading some positive reviews on tripadvisor. They responded fairly quickly, worked with me on customizing a half day tour in Delhi, airport pickups, overnight to Agra, and adding in Fatehpur Sikhri.
It all worked out very well from airport pickup to drop off, The driver was very cool and accommodating. The guides were good. The A/c car was essential in the hot humid weather. The hotel was very nice. They recommended decent restaurants, took us through those mandatory handicrafts stops (which I did not mind as long as the sales reps were not pushy), and kept us on track to meet all the points we wanted to see.
The sunrise trip to the Taj Mahal was amazing, highly recommended. All the other sites we saw in both places were totally worth it (Qutab Minar, Lotus Temple, Akshardham temple, Agra Fort, the garden behind Taj and Fahtepur Sikhri).
All in all well satisfied. Would recommend this wholeheartedly to visitors.