If Udaipur is the heart of Rajasthan then the City palace is the heart of the Lake City. It is the largest palace complex of Rajasthan and it lives up to the hype being a beautiful spectacle in the middle of the dessert. Located on the banks of Lake Pichola it is one of the most visited places in the state and is a perfect photographic pan drop. Watch the breathtaking beauty of the citadel in proximity and breathe in the air of royalty. Visit the palace museum to see the inherited artifacts, items, mementoes, and other exciting pieces of history. Watch the amazing paintings, carvings and other artistic designs that are the hallmark of the magnificent palace. Walk across the 90ft long garden and see the lake waters change color throughout the day. Do boating in the lake and enjoy the view of the palace form the outside. Walk in through the 8 gigantic gates and experience royalty as the kings would have. If you have a knack for glass painting, then the Mor Palace is the place. The palace also houses many temples and religious complexes which display the love for excellence by the royalty of the times.

Right at the center of the city. It is walking distance from most hotels near Lake Pichola

Wikipedia - City Palace Udaipur

Good walking shoes. There is lots to explore.