Rajendra started learning Tabla at the tender age of 5. He has studied the art of Tabla under the tutelage of Shri Appasaheb Bedekar, Shri Prasad Velankar, Shri Suhas Pai and lastly none other than the master of the masters Pt. Pandharinath Nageshkar. Rajendra while working as staff artiste in Alla Rakha Institute of Music, Mumbai, also learned a lot by observing Late Ustad Alla Rakha Khan Saheb. Rajendra has been fortunate to learn for some time the intricacies of laya and taal under Taalyogi Pt. Suresh Talkwalkar.Rajendra has accompanied his Samvadini Guru Pt. Manohar Chimote in various concerts and also has accompanied accomplished artistes like Smt. Veena Sahasrabuddhe on Tabla. Rajendra was quite active in the field of a live orchestra as Tabla player for quite a while in his initial years.