We used this agency for a tour of Rajasthan. Rented a car and a driver for 2 weeks. We had dealing with Piar Chand and Gian Chand. I am recommending them for Rajasthan tour or any other tour in India. They are very reliable and deliver everything they promise.
Piar goes by: Zuzi - India Tours phone (+91)98183115568
Gian has a website easyindiatrips.com and phone: (+91)9899726657