Rajasthan Tourism Development Corporation Ltd. (RTDC), Indian Railways and Department of Tourism, Govt. of India and Rajasthan jointly launched the Palace on Wheels on 26 January 1982 as a special Heritage Train for providing unique and memorable experience to the tourists visiting Rajasthan and Agra.

This train was based on a meter gauge rake comprising of wooden carving saloons of the erstwhile rulers of the princely State of Rajputana, Gujarat, the Nizam of Hyderabad and the Viceroy of British India. In 1991 the train was upgraded with a new air-conditioned meter gauge Palace on Wheels. Consequent to the gauge conversion in the state of an all new air-conditioned broad gauge Palace on Wheels was launched in 1995 which has been noted as one of the top ten luxury trains by media from across the world. Encouraged by the success of the Palace on Wheels Rajasthan Tourism has now launched their latest product in the market.

A journey aboard the heritage Train can be offered as either a stand alone trip combined with an Golden Triangle Itinerary through Delhi - Agra - Jaipur or incorporated either wholly or partly in a trip through Rajasthan.