Enjoy a full-day tour in Udaipur, a city founded by Maharana Udai Singh in the 16th century and named after him. Also known by different names such as the White City of Rajasthan, the City of Lakes, Palaces and Gardens, and the "Venice of the East," Udaipur was voted the best city in the world in 2009 by Travel + Leisure magazine and is considered the most romantic city in India. Head to some of the city's most famous and beautiful attractions, including a 17th-century Hindu temple dedicated to Lord Vishnu in beautiful Nagara-style architecture, the famous Gangaur Ghat, beautiful views of famous Lake Pichola, havelis (small noble palaces), narrow lanes with colourful markets, local culture, the Royal Palace, and the famous Jag Mandir island, the summer palace of the royal family, now converted into the famous Taj Lake Palace hotel.