Ahh how did you find it? We’re going to do Delhi jaipur and Agra and then head to Goa for a week before going to Mumbai, we’re planning it ourselves so any tips would be great
We were on a fully organised tour. My primary tip would've been, book an organised tour

I would certainly say allow a lot of time for travel, the traffic in the Cities is mental. The Indian driving style is 'interesting'...and you spend a lot of time in traffic. Or, waiting for cows to move off the road! We were collected from our hotels by coach, I'd Googled the journey times between Delhi, Agra and Jaipur and in reality it was at least 2 hours more.
Be prepared for the fact that everywhere that isn't a tourist site is very dirty, and many areas are covered in rubbish. Also, be prepared for hassle. Nearly everyone is trying to sell you something or begging. It's relentless and they are very persistent. I've been to many places where this happens so, thought I was prepared, but it was another level in India. Ensure you have no high value items visible and are secure. I bought a money belt and that gave me considerable peace of mind.,
We had no issues with food and Delhi belly, but we had all of our lunch restaurants arranged, and they had chosen good quality places. And, due to the very long sightseeing days, (plus traffic

) we ate in the hotel at night.
Take plenty of tissues for the toilets (not many have an actual seat) and lots of hand gel.
It was a fabulous experience, the places we visited were interesting and stunning, but it's definitely an experience.