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Sweeping views of Udaipur's palaces
Although the hotel was only recently built (2002, I believe), on site there are two much older buildings with a caretaker who has been on the grounds for 40 years. If you walk across the peacock covered 32 acres, you may meet said caretaker who will happily spend hours showing you the murals within the walls, replete with optical illusions, and learn about the courtyards contained within where tiger matches were allegedly held.
For a family, I can think of no better hotel in Rajasthan than the Oberoi Udaivilas. Look for their off season family packages, where you get complimentary adjoining rooms for the kids, and many on-site activities as well as affordable babysitting. The rooms with the semi-private pool are fantastic, with a sitting area and steps right into the infinity pool with views across Lake Piccola.