I lived in Delhi for about two months doing an internship.  During my internship I traveled extensively with a group of people from my school using I Am Adventure.  We visited Agra, Jaipur, and Amritsar, and our experience at each of these places was awesome.  Akarsh is a great, easygoing tour guide, and having someone with us who knew the culture and spoke the language was very valuable.  Getting around in India can be a serious pain, so having our own car with a driver who knew where to go saved us a lot of time and energy.  On our own, we would never have been able to cover so much ground in one day.  Plus, as mean as it may sound, it was also nice having him around to keep the more aggressive shopkeepers and hustlers from hassling us too much.  I would recommend I Am Adventure to any English-speaking travelers in India as a way to maximize your time in India.

Matt Blythe, Portland, Oregon, US
https://www.facebook.com/matt.blythe2