I recently travelled to India on business and wanted to stop in Delhi on the way back to see Agra and the Taj. I see many request for car and driver recommendations here, so I would like to wholeheartedly recommend Mr. Pankaj Singh (firstname.lastname@example.org).
Not only is he a safe and courteous driver, he has an excellent knowledge of the area and speaks English very well. Plus he has a new Toyota Innova that is in excellent condition. Both me and my wife (separate trips) have used him, as well as other company colleagues and we've all been extremely satisfied. He'll make your trip comfortable and fun!