Shivpuri is an ancient, sacred town formerly known as Sipra. It served as the summer resort capital of the Scindia dynasty. It is famous for its National park, wildlife century, Fort, Chattris (cenotaphs of Scindia family) and natural springs.
Major tourist sites in and around Shivpuri: Narwar Fort (dated 9th century), Scindhia Chhatris, Madhav National Park, etc. Shivpuri might be a day-trip from Gwalior.

Tourism Board Website