when I came to Doha first time for vacation, my ex organized a tour to desert for us. He did it through some agency. The driver picked us up at our place, then we arrived to some point, where other 4x4 Jeeps with the tourists joined us, and we all made kind of caravan ( Jeep caravan, not the Camel one..lol).
I had a great time riding on all these “rollercoaster” dunes up and down. The driver was a really professional guy… It was a nice adventure, even better than in Wonderland. Then we arrived to the beduin camp, where I took a short tour around on camel… then lunch for us was ready …then we had some rest in one of the tents, enjoying peace and quietness of the place…
It was nice, you definitely have to take your guest into this trip… I think you can find some agencies in Marhaba directory or through 180 Q-Tel info.