udaipur could be one option....you would have to fly there though....if you want to stay within driving distance of delhi then i would recommend a 2 day trip to the itc grand bharat, a luxury collection retreat....its only a little over an hour away from delhi & if you like staying at luxury hotels then this one is a must....
another option would be to drive to neemrana....the fort palace there is very nice....a 15th century fort that has been turned into a heritage hotel....this would be about a 2 & a half hour drive from delhi, midway between delhi & jaipur....