The Battle of Lalsot was fought between the Rajputs of Jaipur and Jodhpur against Marathas under Mahadji Scindia to collect taxes from the Rajput States. Mahadji as the Naib Vakil-i-Mutlaq of the Mughal Emperor, demanded Rs.63,00,000 from the Jaipur court, however these demands were refused, upon which Mahadji marched against Jaipur with his army. A part of the Mughal army under Hamdani deserted and defected to the Rajput army before the battle.