Mandore is an ancient town, and was the seat of the Mandoreva branch of the Parihar dynasty which ruled the region in the 6th century AD by King Nahar Rao Parihar. In 1395 AD, a Mohil princess of the Parihar rulers of Mandore married Chundaji, scion of the Rathore clan of Rajputs. This was during the era of rapid ascendency of the Rathore clan, and Chundaji received Mandore in dowry. The town remained the seat of the Rathore clan until 1459 AD, when Rao Jodha, a Rathore chief who united the surrounding region under his rule, shifted his capital to the newly founded city of Jodhpur.
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