The tour starts with an exploration of Amer Fort. It's more fun to take the staircase and enter through the Sun Gate (Suraj Pol) instead of taking a cab to the rear Moon gate (Chand Pol). Spend 2-3 hours exploring the fort, then walk out of the Moon gate into Amer town.
The tour concludes at the Royal Cenotaphs of Amer - a burial site of some of Amer's most visionary and bold rulers