Because Jordan and Egypt don't share land borders, if you plan to cross over you will have to make the journey via Israel's Eilat border into Jordan, a popular choice among backpackers and a certainly memorable experinece!
Traveling from Egypt to Jordan by road involves two border crossings. First, you will need to make your way through the Sinai Peninsula to the Egyptian border, to a town called Taba which is located at the Egypt-Israel border. You then cross the border from Taba in Egypt to Eilat in Israel. From Eilat, you can take a taxi to the Israel-Jordan border crossing.
Once you cross the border into Jordan, you can go on your tour as planned.
Beware, if you choose to take this route, ensuring you're able to get your visas to Israel on arrival or whether a pre-arranged visa is mandated. For most Forgein nationalities, visas to Israeli are often issued on arrival, though it's always best to check, depending on your nationality..
Pro-tip: Flying from Egypt to Jordan is far quicker. You can get from Egypt to Jordan in less than two hours. By contrast, if you travel by road via Israel the journey is likely to take you up to 12 hours. The trip will also cost nearly as much, if not more than flying.
