Udaipur's main attractions cluster around the lakes and the old city. The City Palace and a boat ride on Lake Pichola are the essentials, but the old city lanes reward aimless wandering — through bazaars, past crumbling havelis, and along the ghats where daily life plays out against a backdrop of white-washed buildings and blue water.
For the best experience, spend the morning at the City Palace and the afternoon on the lake, then catch the cultural show at Bagore ki Haveli in the evening. Save the Monsoon Palace for a sunset trip on another day.