A 40-year-old married woman from Moti Virani village in Nakhatrana was offered a lift in a car by Mohan Ahir, a man known to her, police said.
"The accused offered to take her to Mata no Madh temple but instead took her to a shopping complex in Kotda Jadodar village, and along with four other friends, raped her," the official said.
She managed to escape and filed a complaint with Nakhatrana police station on Saturday, he said.
Efforts were on to nab Ahir and the other four accused, he said.