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My wife is from India. I have been more times than I can count. Its late, my random thoughts are...

In Delhi, go for walk in the early morning in Lodhi Garden. Qutab Minar is worth the trip. Khan Market is a nice upscale shopping market.

In India, if you do not want to get hassled, walk with 'authority', in other words walk like you are going someplace. You will get less grief from hawkers trying to sell you stuff or offer you rides. A hotel should be able to hook you up with a driver. An all day taxi ride, or better yet an auto rickshaw is not outrageous. Give the driver $20 cash tip. You will make his month. Being able to tell hawkers no in Hindi helps, because they think you are local. 'Nahin bhaee', literally 'No brother'. If you meet a guy on the street, you call each other brother.

In 20 years of trips to India, the only times I have gotten sick was eating in 5 star hotels. No joke. Food at hotels is way overpriced as well. I have eaten from tons of food stands, not a problem (If there is one food stand with 2 people in line, and the other one has 20....go to the one with 20). There is bottle water everywhere, use it.

Delhi has good elevated train network. I find it easy to navigate.

Agra is pretty much a crap hole. The only reason it exists in the Taj. See the Taj Mahal, go to the Agra fort (that offers great views of the Taj from a distance. There is an abandoned palace nearby called Fatehpur Sikri. Worth the trip IMHO opinion.

If are looking to shop for something in particular in Delhi, let me know, I have family there.