agra to jaipur

We are in Agra at present and would like some advice on which travel agent we can use to drive us to Jaipur please.

I am taking my family to Agra to see the Taj Mahal and what I would like to do is take them ahead towards Jaipur, but I don't know whether it would be feasible. I would like to know what the distance between Agra to Jaipur is and also the time it would take to drive there, so I can decide...