Delhi has a beautiful (and huge) new international terminal. Be prepared for a long walk upon your arrival. There are 2 welcome areas when you exit the customs check: one inside for families and relatives, and another one just outside the building. Your indian driver will welcome you there, waiting with a name sign. More information on Delhi airport can be found here: www.newdelhiairport.in
You can also read our post about airport scams in India, to make sure your trip does not start with a bad surprise. However when you book your tour with a driver in India, you have absolutely no risk of any mishap.