Well if you are in Gwalior must visit the fort, but will not advice you to go visit Gwalior for the fort.
The fort is large and has 2 section with two separate entry ticket. Don't understand the reason for it. It lacks maintenance and you need to hire a guide if you want to listen to all the stories ( that may not relate to history). There are no aids that lets you know what building is what excepting one at the entrance that gives a brief description of the huge fort.
There is also a Museum with historical artifacts mainly found at Morena. It also has a ticket and you cannot take pictures here.
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