The family of Kankarwa Haveli is of the ruling class known as Rajput. They are descendants of the ruler of Mewar (Udaipur), having bifurcated from the royal family in the 16th century in the regime of Maharana Udai Singh, founder of Udaipur. They settled in and managed the Village of Kankarwa, 60 km from Udaipur, where they lived in a castle, their family home. The Kankarwa Fort northeast of Udaipur still stands testimony to the family’s rich history.
Early in the 19th century, the Maharana gave the Thakur of Kankarwa permission to build an urban house in Udaipur City. Construction began around 1820 and is presently known as Kankarwa Haveli.
In 1993 the family began renovation work and within two years Kankarwa Haveli opened its doors for travellers while remaining the city dwelling of the original family.