The Mehrangarh Fort can be accessed from the city of Jodhpur by rickshaw. There is an entrance fee, that includes the camera ticket and a free audio guide.
To get to Jodhpur you can fly to its Airport from Delhi, Mumbai, Jaipur and Udaipur, or you can take the train. Jodhpur is an important railway hub, thus it is well connected with all major Indian Cities.
But the best way of getting to Jodhpur probably is by a rented car with a driver. You can find several travel agencies that will organize a tour around Rajasthan once in India (or you can book it on the internet). All Rajasthan tours include Jodhpur.
♥ Visit Tagulandang Island ♥