A senior police officer told IANS that the accident occurred near Reengus in Sikar district, some 80 km from here.
The condition of four people is stated to be critical, he added.
"One of the victims had returned from Saudi Arabia after several years, and the family members had gone to pick him up from Jaipur airport," the officer said.
They were heading towards their home town Khandela when the driver of the van lost control on the Jaipur-Sikar road and rammed into a parked truck.
"Nine of the victims died on the spot, while one succumbed to injuries in hospital. Four others who sustained injuries are undergoing treatment at Jaipur's SMS Hospital," the officer said.