One of the most romantic cities in all of Rajasthan, Udaipur is better known as the city of lakes. The marble palaces, the beautiful gardens and the placid blue lakes enhance the beauty of this city. It was founded in 1568 by Maharana Udai Singh II. The Lake Palace is certainly the best late example of this unique cultural explosion, but Udaipur is full of palaces, temples and havelis ranging from the modest to the extravagant. It's also proud of its heritage as a centre for the performing arts, painting and crafts.