I have long been fascinated with Petra and would like to visit it during a trip to TelAviv. Can it be done as a (very long) day trip, or do you need to stay somewhere in Jordan for a night before or after? I was thinking on taking a private guided tour from the Jordan border and back, if that is available. Travel by car and foot preferred; I am not so interested in horse trips. Just want to get in, see and hear about it, and get back to Israel.

All suggestions are welcome.