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By air: Udaipur has a small airport called Maharana Pratap Singh Airport and there are daily flights to and from both Delhi and Bombay. The city is approximately 20kms from the airport and taxis are the only means of transportation to the city.
By train: train services have improved over the last few years and there are now daily trains from Delhi and Jaipur. Trains provide the safest and most comfortable travel options and there are various classes of service suitable for any budget.
By car: although it's possible to hire a car, driving is not really recommended as the roads in Rajasthan are in poor shape and the standard of driving is very low. If you do decide to drive, be particularly careful at night as truck and bus drivers can be very reckless.