Udai Singh was the son of Maldeo Rathore, Raja of Marwar and Rani Swarup Deviji.

When Rao Maldeo nominated his younger brother, Chandrasen to the throne, Udai Singh raised some turmoil.

[3] These war unfortunately weakened the Rathore principality when Akbar was forming friendly alliance with other Rajput Chieftains.

[8][9] Thereafter, he got an opportunity to prove his worth as a warrior and commander in expeditions against Gujars of Samavalli and Raja Madhukar Bundela.

[9] In 1574, Udai Singh lost Phalodi when Akbar granted it to Bhakharsi, son of Rawal Harraj.

Thereafter forces led by Udai Singh and others proceeded to subdue the rebellious vassal Daulat Khan Lodi.

[10] Udai Singh, with the help of Mughal Emperor, had finally succeeded to achieve his two decade old ambition of recovering the land of his ancestors.

Marwar alliance with Mughal would have broken down due to religious strain estrangement had Jahangir and Shah Jahan not been bound by blood ties.

After this marriage Udai Singh and brothers and nephews of Jodh bai succeeded in gaining confidence of their contemporary rules and were recipient of Royal favours.

The version from the Rathore genealogy says Kalyandas took offence at Udai Singh giving his daughter, Jagat Gosain, to Jahangir in marriage, and threatened to kill both men.

According to Ziegler, if this is true, the most likely explanation for Kalyandas' opposition is that the marriage implied a subservience that violated the Rajput code of honor.

[14] According to Murārdān,[15] Kalyan Das Rathore took offence at this marriage and was angry at Mota Raja and had remarked – Why has a daughter been married to the Turks?

On the face of this defeat, Mota Raja received permission from Akbar to leave the imperial camp.

Kalyan Das, realizing defeat is imminent, had his wives perform jauhar and himself led his men to die fighting.