We used Jordan Beauty Tours, which was recommended to us by an Israeli tour guide, and had a good experience. The general manager, Sufian Amarat, was anxious to make everything perfect for us. He was born in one of the caves surrounding Petra and was moved to an apartment when the government made them all leave. Very interesting man. Contact info:
[email protected]
www.jordanbeauty.com
tel 962 7 95581644
tel 962 7 77517069
tel/fax 962 3 2154999
Wadi Mousa - Petra
Tourist Str. 71810
P.O. Box 008

It was nearly 2 years ago now, but let me know if you have any questions and I will try to remember the answers. Stay at the Petra Movenpick if possible. Great hotel, perfect location. It was pretty cheap, also.