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Between Gwalior and Agra, actually in a part of Rajasthan that separates Madhya Pradesh and Uttar Pradesh, Dholpur was the scene of a pitched battle between Aurangzeb's sons to determine who would succeed him as emperor of the rapidly declining Mughal empire. The Shergarh Fort in Dholpur is very old and now in ruins. West of Dholpur near Bari is the Khanpur Mahal, a pavilioned palace built for Shah Jahan but never occupied.

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