Sorry for the delayed response. Home again and back at work
Already planning my next trip.

I am a totally independent traveller, or was until I went to India. If you've been before you might want to try to make arrangements yourselves, but I heartily recommend using a travel agent. I used Rajasthan Tours and was pleased with their service. If you want first class trains, or a car and driver, this would really be the best option. If you want to do it yourself, do get your trains reserved (or flights) ASAP. It was great to arrive and be met, taken to my hotel, hauled around to the various sites, etc. Reps put me on trains, delivered to hotels (which I'd pre-booked), and in general facilitated everything relating to transportation. I do recommend however, you be quite specific about whether or not you want to see "monuments" which are guide-picked shopping traps--the one thing I really did not like. Also be specific about whether you're purchasing transportation only (a driver) or also getting a guide for touring.

I rented a car in Oman, Puerto Rico, and Alaska. Don't even think of doing so in India (actually, I doubt you can). Just riding in a vehicle there beats any thrill-factor at an amusement park. Hope you have as great a time as I did.