I think the golden triangle tour will be great for you. A cultural trip with wonder of the world :)
Golden triangle is known as Delhi Jaipur Agra .
Much to see in these different cities. food is good and tasty.
culture is look on driving through villages.
You should fly Mumbai to Jaipur then can hire & driver to visit Jaipur - Agra - Delhi . Jaipur stay 02 nights , Agra - 01 Night , Delhi - 02 nights would be better , if your flight arrive in Jaipur in morning then can reduce one day in Jaipur.
Jaipur - Main Attractions - Amber Fort, City Palace , Observatory, Birla Temple , colorful markets Jauhary & Bapu Bazar etc.
Agra - Taj Mahal , Agra Fort and side attraction Fatehpur Sikri.
Delhi - Various places in Old & New Delhi.
As per your interest better you can visit - 2 night in Mumbai and then fly for Jaipur ( 2 night) , 01 night in Agra and 2 night in Delhi is best itinerary according to your interest if you have your travel of duration more we suggest the following program -
01 Day - Arrival and night in Mumbai
02 Day - Mumbai
03 Day - Fly for Udaipur
04 Day - Udaipur
07 Day - Jaipur
08 Day - Amber fort/ Jaipur
09 Day - Fatehpur sikri/ Agra
10 Day - Delhi
11 Day - Delhi and departure as per your onward destination
you can find the information open blogs and get best tour operators i think ashlartours.com is very good traveler you can find the all information about your tour in this web site
Delhi Mumbai and Jaipur all are the important parts of incredable india. In there i m suggesting you some important location to visit like -Lal quila,Akshar dham,Qutub minar,india gate,Lotus Temple,Purana quila these are the important destinations in delhi. After delhi you can go jaipur, udaipur,Jodhpur.After that in mumbai there are many destination to visit like-gateway of india,haji ali etc.
Get a guide for each of these places.
Not expensive and worth their weight in gold!