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Daily two trains leave from Mumbai for Aurangabad, these are Tapovan Express and Devgiri Express. You can avail any of these options to reach the city.
By Air
Aurangabad airport is directly linked to major cities of India like Mumbai, Delhi, Jaipur and Udaipur. Hence, taking a flight to the city can be a good option.
By Road
Aurangabad is well connected to Mumbai by road. Several luxury and state run buses travel between the cities.