Manjipoor is an exotic, mystical kingdom that exists very close to our world - but not in it. The nation was created 600 years ago when 'gifted' people - sorcerers, oracles and witches - fled persecution and created their own territory, and then later moved it to a parallel dimesion, by magical means, for their protection.
Elephants are revered as part of the culture. The royal elephant is Anala.
In season 1, Queen Nefari dies, to be succeeded by Princess Alex Wilson, who was unaware of her royal status as well as the existence of the kingdom. Anala accompanies first-year student Kuru on his quest to bring Alex back to Manjipoor.
Manjipoor is more than likely inspired by ancient Indian kingdoms. The people there are also probably Hindus.