@Ankit_g
Rajasthan is a huge state with lot many places to visit, experience and explore.
If you have never been to RJ before, I'd suggest to keep it a relaxed trip and enjoy as much as you can in your short time. Stick to major tourist attractions like Jaipur, Ajmer and Pushkar.
Jaipur calls for good 2 days to explore it. It has so many places which one can't afford to miss!
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If you wish to go for touch-n-go kinds driving roadtrip, go with the itinerary suggested by
@torquedos .
Check you passengers age/health and look out for weather conditions, then decide judiciously.
And don't you see a train-trip as a good option?
It'll be much more convenient and time-saving option.