The 43-year-old Colonel entered politics, contending that "I must not back out when the nation is faced with a different kind of threat".
He joined BJP in the presence of party President Rajnath Singh and Narendra Modi, whom he described as a "decisive" leader who should be given a chance to lead the country.
"I know politics and politicians are hated but I still believe in goodness of a heart that has selfless intentions. With the grace of god, I will make a difference," said Rathore who had won Silver medal in 2004 Athens Olympics in Double Trap Shooting.
Contending that he finds "very creditable leadership" at the helm of the BJP, he said the party has committed and strong grassroots cadre.
"India today needs decisive leadership and I see that leadership in Narendra Modi and Vasundhara Raje. Like a general that leads from the front, he (Modi) has galvanised a nation that had forgotten to believe. He deserves a chance, India deserves a chance and I am willing to soldier for India," he said.
