Start your journey from Delhi and drive to Ayodhya, which is approximately a 6-7 hour drive. Visit the Ram Janmabhoomi, Hanuman Garhi, and other important temples and historical sites associated with Lord Rama. Check in to your hotel in Ayodhya for an overnight stay.

After breakfast, depart for Prayagraj, a journey of about 3-4 hours. Visit the Triveni Sangam, the confluence of the Ganges, Yamuna, and Saraswati rivers, and take a boat ride. Explore other attractions like the Allahabad Fort, Anand Bhavan, and Khusro Bagh. Check in to your Prayagraj hotel for the night.

In the morning, drive to Varanasi, which is approximately a 3-4 hour journey. Upon arrival, visit the famous Kashi Vishwanath Temple and Sankat Mochan Hanuman Temple. Take an evening boat ride on the Ganges River to witness the mesmerizing Ganga Aarti at Dashashwamedh Ghat. Check in to your hotel in Varanasi for a peaceful night's rest.

Early morning, experience the spiritual aura of Varanasi with a sunrise boat ride along the Ganges to observe the rituals and ceremonies. Visit other important sites like the Bharat Mata Temple, Tulsi Manas Mandir, and Banaras Hindu University (BHU). Spend the evening exploring the bustling lanes of Varanasi and savoring local cuisine. Return to your hotel for an overnight stay.

Begin your day with a visit to Sarnath, where Lord Buddha gave his first sermon. Explore the Dhamek Stupa, Sarnath Museum, and other archaeological remains. Return to Varanasi and explore more of the city's attractions or indulge in some shopping. Enjoy another night in Varanasi.

After breakfast, check out from your hotel and start your journey back to Delhi, which is a 9-10 hour drive. Depending on your schedule, you can make stops at interesting places along the way, like the ancient city of Varanasi. Reach Delhi by evening, concluding your 6-day tour of Ayodhya, Prayagraj, and Varanasi.

This itinerary covers the key highlights of these three historic and spiritual cities, but you can always customize it based on your interests and the time you have available. Enjoy your trip and the rich cultural and spiritual experiences these cities offer!