Khimsar is a small hamlet on the Jodhpur-Bikaner Highway. Jain Saint, Mahaveer, founded it some 2500 years ago. The village of Khimsar was established by the descendents of the rulers of Jodhpur and is the entry point of the Thar Desert. Prince Karamsi built the castle in the mid-15th century AD. Thakur Onkar Singh is the present occupant of the castle. In 1940s, he added a regal wing for himself. This fort houses the 18th, 19th and 20th generations of the Khimsar thakurs.
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