Hello Travelers,
Mahabalipuram is a historical place related to Pallavas which should be on your list. We have visited Mahabalipuram a couple of times so I will post pics from earlier trips also.
It is located at a distance of 330 Kms from Bangalore. Takes around 6 hours to reach.
The most common tourist spots are: Pancha Rathas, Cave temples, Light house, Shore Temple, Krishna's Butter ball, Maritime Museum, Sculpture Museum, Beach, Crocodile Bank etc.,
We need at least 2 days to explore. I suggest you take an accommodation near to Bus stand so that you can explore by foot, take rest under a tree or monument, drink tender coconut, eat Ice cream and start again.
Here is the location link: https://goo.gl/maps/4gdPg3112GXV4SpA9
Here are pics of places we visited in Mahabalipuram.