This former British colonial stronghold boasts evidence of over two millennia of habitation, with ornate, architecturally diverse buildings, ranging from crumbing ruins to Victorian treasures. Home to lively festivals and a vibrant artistic community, clamorous markets and packed temples, this city is crowded and polluted, but ultimately invigorating.

The north Indian city of Varanasi, or Benares, is regarded as sacred by Hindus, Buddhists and Jains. Situated in the fertile Ganga valley and on the banks of the Ganges, Varanasi is a place of pilgrimage for Hindus, who come to bathe in the holy river. Known as the City of Temples and a beacon of culture, Varanasi has produced many renowned writers. It’s also a centre of silk weaving, so practise haggling at the chaotic bazaar for some beautiful souvenirs. Rickshaws are the best way to get about.

Khajuraho is a UNESCO World Heritage Site in Madhya Pradesh. It's known for its enormous, intricately sculptured temples adorned by vignettes of passion, eroticism, dance, music and creative pursuits. It has 85 original temples, divided into three complexes. The western is the largest and best known, containing the magnificent Shaivite temple Kandariya Mahadev.

Where better to go for a romantic holiday than to the great testament of love, the Taj Mahal? Built by the grieving Mughal Emperor Shah Jahan in memory of his late wife Mumtaz Mahal, the Taj Mahal’s unrivaled beauty explains why it’s regarded as one of the eight wonders of the world. A visit to India wouldn’t be complete without it. Other must-experience destinations in Agra are two other UNESCO World Heritage Sites, the sandstone Red Fort and Fatehpur Sikri.

Laid out by British architect Edwin Lutyens, the Indian capital is a striking modern metropolis. A gracious contrast to Old Delhi's winding streets, the grand avenues and stately buildings of New Delhi are rich with history and culture, from Gandhi's Delhi home (and the site of his assassination) to the tomb of Humayun, a complex of Mughal buildings reminiscent of the Taj Mahal. Chaotic traffic is best left to the locals. Negotiate a good price for taxis or travel on the new Delhi Metro.

Udaipur, known as the Venice of the East, boasts several sparkling lakes against a backdrop of the Aravail hills. Jag Niwas and Jag Mandir, islands in Fateh Sagar Lake, are the site of Udaipur Solar Observatory and Nehru Garden. Famous palaces include the magical Lake Palace, now a luxurious five-star hotel, and the massive City Palace on Pichola’s east bank, featuring epic courtyards and stunning paintings.

Love garlic? You’ll love the food in Pune. Unlike other cuisines of the subcontinent, Pune cuisine relies heavily on the aromatic bulb. Soothe your palate with sweets like bhakarwadi, a pastry rolled with coriander, tamarind and sesame seeds, or cool off with a thick milkshake made with dried fruit.

Surrounded by a huge fortress wall with bastions, the striking blue buildings in Jodhpur contrast sharply and beautifully with the neighbouring Thar Desert. Exploring the palaces, forts and temples will keep you busy and in awe of the city’s historic grandeur. Bazaars offer a range of beautiful textiles, embroidered leather goods, lacquerware, antiques, carpets, puppets and figurines. Jodhpur is a popular tourist destination and a convenient base for travel in the region.

Mumbai (formerly known as Bombay), India, is famous for its chaotic streets. For bargains and people-watching, outdoor bazaars top the list of attractions. Popular waterfront destinations are Marine Drive, where visitors go to watch the sun set over the Arabian Sea, and the carnival-like Juhu Beach. More sightseeing options are the Gandhi Museum, in the leader's former home, and the cave temples of Elephanta Island. For tranquillity, Mumbai has many religious sites, lakes and parks.