There are few better ways to explore the glimmering white buildings of Udaipur that hug the edge of Lake Pichola than by boat. Set out from the majestic floating Lake Palace and sail across the tranquil waters to marvel at the delicate mirror-work, paintings and ornate halls of the City Palace, join the locals at vibrant markets, and lose yourself in the serene Sahelion Ki Bari. Dine in one of the lake-front restaurants with a view over the Lake Palace before taking the hotel’s private boat back to the peace and tranquillity of the Taj Lake Palace.