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.