She was elected to Lok Sabha from Alwar in Rajasthan as a candidate of Bharatiya Janata Party.
She was born in Bundi in 1942 to a royal family and educated at Scindia Girls College, Gwalior.
Kumari was a Member of Tenth Lok Sabha from 1991 to 1996 representing Alwar Parliamentary Constituency of Rajasthan.
A keen sports enthusiast, Kumari was a champion pistol shooter and had special interest in tennis, swimming and riding.
A widely travelled person, Mahendra Kumari was a Member of Indian Parliamentary Group of the Fourth World Conference on Women in Beijing, China in 1995.