Peel and cut the mangoes into large chunks, reserving the pits. Divide the mango chunks between two large pitchers. Squeeze the excess juice off the pits and drop them in as well. Add the citrus slices and top with the ice, which will hold down the fruit. Pour in 1 gallon water.
Let the water infuse for at least 2 hours before serving or store overnight in your fridge. If you like your water at room temperature, let it infuse on the counter top, but be sure to add the ice to hold down the fruit, or use a fruit infusion pitcher, which will hold all the fruit down for you without the ice.