Rao Udai Singh also known by the sobriquet Mota Raja (the fat king) was the Rathore

Rathore

The Rathore is a Suryavanshi Rajput clan same caste as Lohana. Their Kuldevi is Nagnechiya Mata and "Karani Mata". Rathores are originally from Kannauj in Uttar Pradesh. Rathores are historically considered the samurais of India...

 ruler of Marwar, which was later known as Jodhpur (in the present day Rajasthan

Rajasthan

Rājasthān the land of Rajasthanis, , is the largest state of the Republic of India by area. It is located in the northwest of India. It encompasses most of the area of the large, inhospitable Great Indian Desert , which has an edge paralleling the Sutlej-Indus river valley along its border with...

 state of India). After the death of his father Rao Maldeo on November 7, 1562 a fatricidal war for succession started and his younger brother Rao Chandrasen crowned himself in the capital Jodhpur. But his reign was short lived as Akbar's army occupied Merta in the same year and the capital in 1563. Udai Singh later joined the Mughal service.

After the death of Rao Chandrasen in January, 1581 Marwar was brought under direct Mughal administration and in August 1583, Akbar restored the throne of Marwar to Udai Singh. He married his daughter Jodha Bai (Jagat Gosayini or Bhanmati) to Jahangir

Jahangir

Jahangir was the ruler of the Mughal Empire from 1605 until his death. The name Jahangir is from Persian جهانگیر,meaning "Conqueror of the World"...

 in 1587. Prince Khurram (Shah Jahan

Shah Jahan

Shah Jahan Shah Jahan (also spelled Shah Jehan, Shahjehan, , Persian: شاه جهان) (January 5, 1592 – January 22, 1666) Shah Jahan (also spelled Shah Jehan, Shahjehan, , Persian: شاه جهان) (January 5, 1592 – January 22, 1666) (Full title: His Imperial Majesty Al-Sultan al-'Azam wal Khaqan...

) was the son of Jodha Bai. Udai Singh died in Lahore on July 10, 1595. He was succeeded by his son Sur Singh Rathore.