Rajesh hailed from a Punjabi family and his father was a heart specialist while his wife Nupur, hailed from Maharashtrian family and her father served as an Air Force officer. The couple met during their college days in Azad Medical College. Rajesh and Nupur soon got married and decided to have a single child.

While residing in a flat in South Delhi in 1994, their daughter Aarushi was born. After Aarushi's murder, the couple moved back into the same flat.