Rathore was elected MLA for the first time from Banda Vidhan Sabha seat in Sagar district in 1985. He represented the constituency in 1990, 1998 and in 2003.
He had also served as a cabinet minister when Uma Bharti was Madhya Pradesh Chief Minister in 2003.
Rathore is survived by three sons and two daughters.
His last rites were performed today with full state honours in the presence of MP Panchayat Minister Gopal Bhargava, Finance Minister Jayant Mallaiya, Transport Minister Bhupendra Singh, BJP MP Prahlad Patel and Madhya Pradesh BJP's Organisational General Secretary Arvind Menon.
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