Ashraf, who is accompanied by a 40-member delegation and some family members, was received at the Sanganer Airport by Rajasthan government officials.
The Pakistan's Prime Minister's flight to India was delayed by over 50 minutes.
He will soon join Khurshid for lunch at the Rambagh Palace Hotel here following which he will leave for Ajmer to offer prayers at the 12th Century Dargah of Ajmer Sharif.
An official spokesperson in the Ministry of External Affairs had said that "The Pakistan Prime Minister is not visiting New Delhi and no substantive discussions are scheduled to be held in Jaipur".
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Asked if a proposal for a meeting in New Delhi was made by India, he had said the visiting dignitary had expressed the desire to undertake a private visit and "all requirements to meet his needs are met. In addition we have not received any other request."
Ashraf's visit comes at a time when there is a chill in bilateral ties over the ceasefire violations at the LoC. An Indian soldier was beheaded by Pakistani troops while the mutilated body of another was found in January.