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Mishra replaced Kalyan Singh, who has completed his five-year tenure.
Rajasthan High Court Chief Justice Shripathi Ravindra Bhat administered the oath of office to Mishra.
The Governor was given the guard of honour after the oath ceremony.
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Mishra, 78, is a former union minister who was the Governor of Himachal Pradesh prior to Rajasthan.
Chief minister Ashok Gehlot, deputy chief minister Sachin Pilot, members of the council of ministers, leader of opposition Gulab Chand Kataria, deputy leader of opposition Rajendra Rathore and others were present on the occasion.