Indira Gandhi International Airport (IGI), at New Delhi is the nearest airport which is located at a distance of 260 KM. Regular flights connecting the major cities like Delhi , Mumbai, Ahmedabad, Bangalore to Jaipur, Jodhpur and Udaipur. There are four airports in Rajasthan Jaipur International Airport + Jodhpur and Udaipur. There are several flights from different part of the India. Though you can fly directly from Delhi to Jaisalmer and back which is recently open.
Rajasthan has a good network of rail with direct superfast and other express trains from Major Cities in India. Shatabdi trains only Chair car for short distance is possible from Delhi to Jaipur and up to Ajmer only. Agra to Jaipur also well connected with Shatabdi and Other trains. Superfat trains also available in all major cities in Rajasthan which can connect you to any of the city in India.
This is most convenient to enter in Rajatshan from Delhi to Jaipur or Mandawa which is approx 250 kms / 5 hours diatnce. Though should you need to include Agra in your tip canm be combined with Delhit o Agra - Jaipur called Golden triangle. If you are coming from Ahmedabad - Gujrat by road you can include Mt Abu for your stay and come to either Udaipur or Jodhpur. The national highway of Rajasthan is measured approx 6000 km while the state highway is of 10000 km. NH8 passes through Jaipur and Udaipur. A four lane road connects Delhi - Agra - Jaipur and Delhi to Jaipur directly. You will enjoy your drive all across Rajasthan