Originally Posted by crhptic

I will caution you not to try to cram too much into that one week. I had about a 10-11 day trip to India a few years ago, and it was way too short. We tried to see large parts of the northern portion of the country. Although we did visit tons of interesting places, I regretted not having the time to slow down and just EXPLORE one or two cities.

The second portion of our trip started in Delhi and we spent one day there and in each of the following places:
Agra
Jaipur
Ajmer/Pushkar
Udaipur

and then we flew back to Bombay, where we had originally started.

Out of all those places, if I had a week to explore I would personally focus on Udaipur and Jaipur (with Udaipur first and Jaipur second). I found them to be the most interesting and beautiful. Pushkar was a small town but completely and utterly overrun with backpacking tourists, and because of that the most interesting things in the town (Hindu temples) are all closed to non-Hindus, so I couldn't see any of them. Ajmer was a dusty, dirty city with nothing in particular to recommend it. Agra, of course, was worth seeing if you've never been there - don't limit yourself to the Taj Mahal, make sure you get to the tombs, the Red Fort, and Fatehpur Sikri.

I think you could easily make a leisurely week starting in Delhi and driving to Agra, Jaipur, and one other city. While personally I loved Udaipur and would encourage you to visit it, the downside is, it's kind of a long drive. If you only have a week, from Jaipur, you might want to consider somewhere closer like Jodhpur or Bharatpur (neither of which I got to see, but both of which I'd like to see someday).

Also, when I did this trip, we had a car WITH DRIVER and I would strongly encourage you to do the same. Typically, a car rental in India comes with a local driver, and with good reason.