The recommended length of stay in Mandawa is only one day. Most tours leave Delhi (or Bikaner) first thing in the morning (around 8-9 AM), and get to Mandawa, after a lunch stop, in the afternoon.
After checking in at your hotel, and taking a quick shower, you can go for a walk in the streets of Mandawa. The town can be visited in one afternoon. This is a samll town, there is no need to take any local transport.
In the picture you can see a haveli in Mandawa's main street.
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