Next morning you arrive Udaipur. 

It was founded by Maharana Udai Singh of Mewar, after the Sisodia dynasty was driven away by the Mughals in 1559 A.D. 

Perhaps the two most beautiful sites of Udaipur are the dream like marble palaces-the Jag Niwas (Lake Palace) and the Jagmandir, which appear to rise from the blue waters of Lake Pichola. 

After lunch at Lake Palace Hotel, visit to the City Palace and Saheliyon Ki Bari. After evening tea, departure for Bharatpur at 2000 hrs.