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There are two ways to get to Nahargarh Fort: one is to hire a vehicle to drive you the long way round to the top. The other is to walk up. The way up is a well-paved winding road, wide enough for one vehicle but only used by pedestrians and a few motorbikes. It takes 20-30 minutes.
At the top are some great views and some interesting apartments in the palace (open until 5:30pm).
There are also a couple of restaurants that are open until later.