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Orchha could make towns many times its size green with jealousy. At heart, Orchha is nothing but a tiny, agricultural village that shouldn't really be of much interest to anyone, but it was blessed by history: for nearly 300 years it was one of the most important urban areas in this part of India. This has left the small town with a supreme display of Mughal-influenced Rajput architecture in the shape of spectacular palaces, temples and royal chhatris (cenotaphs). And thanks to an important temple dedicated to Rama, it's also a major pilgrimage and spiritual centre. Combine these with a laid-back atmosphere, some fabulous accommodation options, as well as opportunities to enjoy the surrounding pastoral countryside, with walking, cycling and rafting all on the agenda, and you'll understand why Orchha can be considered one of the highlights of Madhya Pradesh.

Virginal Arunachal Pradesh appears as a giant patch of green on India’s map. The country's wildest and least explored state, Arunachal (literally, Land of Dawn-Lit Mountains) rises abruptly from the Assam plains as a mass of improbably steep and densely forested hills, culminating in snowcapped peaks along the Tibetan border. Arunachal lures travellers with the promise of adventurous journeys to remote mountain valleys and encounters with some of its 26 indigenous tribal peoples. Tourism infrastructure – such as hotels or even homestays – has yet to reach many areas; this is travel far beyond standard tourist trails.

The magical allure of the Taj Mahal draws tourists to Agra like moths to a wondrous flame. And despite the hype, it’s every bit as good as you’ve heard. But the Taj is not a stand-alone attraction. The legacy of the Mughal empire has left a magnificent fort and a liberal sprinkling of fascinating tombs and mausoleums, and there’s also fun to be had in the bustling chowks (marketplaces).

The deep-cut Shayok and Nubra River Valleys offer tremendous scenery on a grand scale, with green oasis villages surrounded by thrillingly stark scree slopes, and harsh arid mountains, strongly reminiscent of Pakistan's Northern Areas. There are sand dunes, monasteries, a ruined palace and – at Turtuk and Bogdang – a whole different culture (Balti) to discover. Permits are required by foreigners.

Founded in 1577 by the fourth Sikh guru, Guru Ram Das, Amritsar is home to the spectacular Golden Temple, Sikhism's holiest shrine and one of India’s most serene and humbling sights. The hyperactive streets surrounding the temple have been calmed to some extent by recent urban landscaping, including graceful pedestrianised walkways, but duck into any side alley and you’ll soon discover Amritsar’s fantastically frenetic old-city bazaars, sheltering a sensory overload of sights, sounds and smells.

Located on the banks of the holy Godavari River, Nashik (or Nasik) gets its name from the episode in the Ramayana where Lakshmana, Rama’s brother, hacked off the nasika (nose) of Ravana’s sister. Today this large provincial city’s old quarter has some intriguing wooden architecture, interesting temples that reference the Hindu epic and some huge bathing ghats. The city is noticeably cleaner, better maintained and greener than many Indian cities of its size.

Palolem is undoubtedly one of Goa’s most postcard-perfect beaches: a gentle curve of palm-fringed sand facing a calm bay. But in season the beachfront is transformed into a toy town of colourful and increasingly sophisticated timber and bamboo huts fronted by palm-thatch restaurants. It’s still a great place to be and is popular with backpackers, long-stayers and families. The protected bay is one of the safest swimming spots in Goa and you can comfortably kayak and paddleboard for hours here.

The west is in some ways quintessential Rajasthan, with all the romance of desert dunes, majestic forts and camel caravans. Most of the region is covered by the Thar Desert, which also extends into Punjab, Gujarat and Pakistan. The Thar is the world’s most populous arid zone, mostly covered by scrub vegetation, with plentiful villages eking out a living from their animals and maintaining a richly colourful desert culture. Three ancient and atmospheric cities form the focus of travel here, each with a monumental fort at its heart. Proud Jodhpur is a halfway house between the relatively urbane cities of eastern Rajasthan and the state’s wild west. Bikaner and above all Jaisalmer are relatively remote desert cities and popular starting points for desert safaris. You won’t quickly forget nights sleeping under the desert stars or your camel’s rhythmic progress across the landscape.

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With spectacular snowy peaks and plunging river valleys, beautiful Himachal is India’s outdoor adventure playground. From trekking and climbing to rafting, paragliding and skiing, if it can be done in the mountains, it can be done here. A convoluted topography of interlocking mountain chains also makes Himachal a spectacular place simply to explore, by bus, car, motorbike, jeep or foot. Every pass crossing into a new valley brings you into a different culture, with its own deities and language. Villages perched on staggering slopes enchant with fairy-tale architecture and residents' easygoing warmth. Hill stations appeal with a holiday atmosphere, while backpacker magnets lure with chilled-out vibes and mountain beauty. In the Dalai Lama's home-away-from-home, McLeod Ganj, or in remote Lahaul and Spiti with their centuries-old Buddhist cultures, you might wonder whether you've inadvertently stumbled into Tibet.