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The incident took place early morning in Soorwal police station area when the bus was on its way to Lalsot from Sawai Madhopur, they said.
The driver of the bus lost control over the vehicle and it fell into the river after breaking the railing of the bridge, the police said.
Prime Minister Narendra Modi expressed grief over the incident and said his thoughts were with the families of the deceased.
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Sawai Madhopur Superintendent of Police Mamman Singh said that 32 people have died in the incident. He had earlier said that five injured were rushed to hospitals and 10 bodies were handed over to their family members after post-mortem.
Most of the people died due to drowning including the bus driver, he said.
Passengers were from other states like Uttar Pradesh, Madhya Pradesh, Rajasthan and Assam. Several of them were going to offer prayers at a temple in Malarna Chour in the district, the SP said.