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Jaipur is oriented at some 250km (155 mi) west of Agra in Rajastan state.

The most popular train is the Agra to Ajmer Intercity Express ( Train No: 2195). This train leaves Agra Fort railway station (AF) at 5.10 in the morning and reaches Jaipur (JP) by 9.30 am. The train further continues to Ajmer (AII), a popular pilgrimage center.

From Agra you can catch the Ajmer Intercity Express either from the Agra Fort station or Idgah Railway Station (IDH). If you are staying in areas like Taj Ganj, Agra Fort Station is the nearest. On the other hand if your hotel is somewhere south of the Agra city head for the Idgah Railway Station (IDH).

Between Agra Fort and Jaipur this train has some 6 stops. This is also an ideal train for those heading to Bharatpur (BTE), the location of the Keoladeo National Park ( Bharatpur Bird Sanctuary ), yet another UNESCO World Heritage Site in the region.

Ajmer Intercity Express has two classes , Second Sitting and AC Chair Car. The Second Sitting ticket costs about Rs100 ( 2 USD) while the Chair Car ticket is around Rs350 (7 USD).

Another popular train in this route is the Udaipur Supper Express ( Train No.2965 ). This train starts from Gwalior (GWL) some 120 km south of Agra and head towards Udaipur (UDZ) via Agra and Jaipur. Therefore the name Gwalior Udaipur Super Express. You need to get to Agra Cantt or Idgah Railway Station to catch Udaipur Supper Express. The train leaves Cantonment by 5.40pm and later Idgah by 6.10pm. You will arrive at Jaipur by 10.15 late in the night. You can catch this train after the days sightseeing at Agra and reach Jaipur for the next days tour. This train takes care of that part of your itinerary of the region.

Other daily express trains include the Sealdah Ajmer Express (Train No: 2987 ) that leaves from Agra Fort Railway Station by 7.35 pm and reached Jaipur in the midnight; the long distance Howrah (HWH) to Jodhpur (JU) Howrah Jodhpur Express ( Train No. 2307), leaves Agra Fort at 8.10pm and arrives at Jaipur by 12.45 in the night and 7am at Jodhpur. A connection of this train (separate coaches attached ) heads for Bikaner (BKN). Both Bikaner and Jodhpur popular attractions for its forts and palaces.

In addition to the above, there are a few more weekly/bi-weekly/tri-weekly trains in the Agra to Jaipur route.

Marudhar Expres ( Train No 4865 on Tue,Th,Fr,Sa ) at 6.15 am from Agra Fort station ; Ibadat Express (Train No 2395 on Wed) at 7.40am frm Agra Fort station; Annanya Express (Train No. 2315 on Thu) at 10.50 am from Agra Fort; Guwahati (GHY) - Barmer (BME) / Bikaner (BKN) Express (Train No: 5632 on Thu) leaves Agra Fort by 6.35 pm ; Pratap Express ( Train No 2496 on Fri ) leaves Agra Fort by 6.35pm; Ranchi Garibnwaz Express (Train No.8631 on Thu) leaves Agra Fort by 8.30pm;

While you can buy tickets directly at the railway station (mostly for the unreserved coach), it is better to do an advanced booking. Indian Railways has an online reservation system (irctc.co.in).
And of course if train is not an option, you can catch one of those numerous buses to Jaipur from Agra.

One last point. Please check with the Indian railways website for the updated schedules, as there could be changes in the due course.