Aurangabad city founded in 1610 A.D. by Malik Amber, the Prime Minister of Murtaza Nizam Shah of Ahmednagar on the site of the village called Khirki. He made it his Capital and the men of his army raised their dwellings around it. Within a decade Khirki grew in a populous and imposing city. However, It was ravaged and burnt down in 1621 by the imperial troops under Shah Jahan. Fateh Khan son of Malik Amber changed the name of Khirki to Fatehnagar. In 1633, when Prince Aurangzeb was appointed the Viceroy of the Deccan for the second time, he made Fatehnagar his Capital and called it Aurangabad. History of this dates back to the second century B.C., which indicates that it was located on ancient trade route from Ujjaini (North) to Pratishthana (Paithan), Capital of Satawahana, and the Tagare (Modernter) in South. The district of Aurangabad had attained high level of prosperity during these days. It containded Pratishthana, Capital of Satwahanas as the centre of trade. In addition to North–South trade links it had also trade links with Nasik, Kalyan, Shupara and Baruchha in West.

Ajanta Caves - located 100 Kms, a 2½ hour drive, northeast of Aurangabad in the Waghora valley. These magnificent rock-cut caves, 30 in number, date from 2nd BC to 7th Century AD. They are exclusively Buddhist, unique in that they combine three forms of Art - architecture, sculpture and painting. The superb frescoes and paintings depict episodes from the Jataka stories and the life of Lord Buddha.

Ellora Caves. 30 Kms from Aurangabad lie the finest rock cut cave temples of Ellora - 10th & 11th century, which encompasses the three religion - Hinduism, Buddhism and Jainism. Of the 34 caves that are both monasteries and temples, the most remarkable is the magnificent Kailasa temple. The entire structure was carved out of a monolith and took over 100 years to complete. The temple itself is decorated with themes and incidents from the ancient legends and puranas in a manner that leaves one in rapturous delight.

Other interesting places worth visting in Aurangabad are : Bibi ka Makbara, Sunheri Masjid, Aurangabad Caves, Pan Chakki (Water Floor Mill).