I would suggest you to take a package tour organised by the Dwarka devasthan samiti. They take you to Nageshwar, Gopi Talav, Bet Dwarka nad Rukashmani Mandir in about 5 hours. They just charge 60 rs per person.
Timings at 8 am and 2pm.
You need to book it,for the next day from the office at Sabzi Mandi(The vegetable market).