The guided tour from Aurangabad packs in few sights in Aurangabad city and gives a mere 2 hours to Ellora where you are shown just 4 important caves- certainly not enough to do justice to these magnificent structures. We decided to explore Ellora on our own and were so fascinated by most of the caves and especially the magnitude of the Kailash temple (cave 16) that we spent over an hour at just this cave clicking nearly every detail!
For a good map of the area visit this site : http://www.world-heritage-tour.org/asia/south-asia/india/ellora/map.html