Indore is the best place to launch it. Indore is well connected through flights and trains so it is best place to launch the tour. if your budget permits, hire a cab for-a-day. The local taxi driver will take you to all important sites the tourists would enjoy. Do visit 56-Market and if your staying overnight, then Sarafa for Street-food. The usual places tourist visit is Rajwada, Khajrana Ganesh Mandir, Bada Ganesh Mandir, Kanch Mandir, Bijasen Mata Mandir etc.
The taxi, Indica like should not cost more that Rs. 1500/- for a day in Indore for local use.
Patalpani, is a short drive on the Omkareshwar Road..I think about an hour or so.