I don,t have any idea about online booking, you can check in mponline or MP tourism portel. but one can get Jungle Safari Gypsy and ticket very easily at the Mandla gate (closest to Khajuraho). Seating capacity is 6 person +1 driver + 1 Guide (Compulsory) and the charge is around 2500-3000 INR depending on season. Two trips (morning and evening) are available.