Add dates
Rio de Janeiro (State)

Walking tours

Our most recommended Rio de Janeiro (State) Sightseeing Walking Tours

Tijuca Forest Adventure Full-Day Small Group Hike

1. Tijuca Forest Adventure Full-Day Small Group Hike

The tour takes you on a challenging hike, uphill and on rough terrain, through the Tijuca Rainforest, one of the biggest urban forests on the planet, on this off-the-beaten-track circuit of trails to discover the nature and beauty of the jungle, reaching the Taquara Hill (814m=2670ft). This peak is a 100m higher than the Christ Redeemer statue, and on clear days, you have 2 amazing views: one to the valley of the forest and another to the West part of Rio, its coastline and lagoons. After that, you will go to a deeper part of the jungle following a trail that is almost secret as it is very rare to see other people doing it. Within 1 hour of hiking up and downhill, you will reach the ruins of an old coffee farm and, with a bit more walking, you will reach a grotto and a cave in the middle of the rainforest. After this, you head to a waterfall where you can refresh yourself (bring a towel and bathing suit). The hike covers a total of approximately 9 kilometers (5.6 miles) and will take around 5 hours. Go up and downhill with an elevation gain of 651 meters (2,135 feet). The trail circuit was designed by experts in the Tijuca Forest Park using tracks and sites that are not well-known or regularly visited, so you'll be hiking in a very unusual part of the forest.  The scenery of this tour is amazing and it has a lot to offer as you are visiting sites that are not featured in most tours. On the way up, you will learn the history of Brazil, Rio, the Tijuca Forest, and everything about the coffee farms that used to occupy that area before the reforestation that happened in the 1800's.

Rio de Janeiro: Pedra da Gávea Guided Hike Tour

2. Rio de Janeiro: Pedra da Gávea Guided Hike Tour

Hike one of the most famous rock formations in this wonderful city, the Pedra da Gavea. Summit at 842 meters and take in the spectacular views of the Bay of Guanabara and some of the main beaches of Rio de Janeiro. Also, see majestic views of famous mountains in nearby Tijuca National Park, such as Pico da Tijuca, Bico do Papagaio, Pedra Bonita and Corcovado. During your adventure along the Pedra da Gavea trail, you may also spot some wild animals of the Carioca Atlantic Forest! There are many animal and bird species that live in the greater Tijuca National Park area. Bring your camera and capture the panoramic views this special spot has to offer.

Rio de Janeiro: Rocinha Favela Guided Walking Tour

3. Rio de Janeiro: Rocinha Favela Guided Walking Tour

Experience authentic living in Rio de Janeiro, on a guided tour of Rocinha. Appreciate local culture and a completely unique way of life in a city plagued by hardship and neglect. See how citizens use art, music, and community to create a positive atmosphere in this special Brazilian neighborhood. Follow your local guide to feel a sense of belonging in this tightly knit area. Learn about generational stories from residents, how they care for their home and their people. Discover street art decorating the buildings that cover the hillside, and grab a snack from one of many local vendors. Admire gorgeous views of the cityscape as you climb the high streets, and see as far as Christ the Redeemer. Notice the respect and kindness that locals have for each other and for tourists so they can protect and develop their beloved community.

Rio: Lapa Nightlife Walking Tour, Caipirinha Class & Drinks

4. Rio: Lapa Nightlife Walking Tour, Caipirinha Class & Drinks

Discover famous nightlife in the Lapa neighborhood in a safe way on a guided walking tour. Enjoy alcoholic games, cachaça roulette, a treasure hunt, a caipirinha class, and shots. Receive a R$15.00 voucher to start the night at Selina hostel bar and first visit the Arches of Lapa and Escadaria Selaron. Learn a bit about the history of the neighborhood and its curiosities. Enjoy a free caipirinha, then visit the famous Casa da Cachaça where you will learn how to make your own. Find out about the best parties and bars, with lots of music of all styles, DJs, and live Samba. End the night in a super fun club dancing to different styles and enjoying some free shots.

Rio: Carnival Backstage Tour at Samba City with Cocktail

5. Rio: Carnival Backstage Tour at Samba City with Cocktail

Discover what goes on backstage at Rio's Carnival with this guided walking tour. Watch as preparations are made for the world's most famous parade with this attraction ticket. Wear some authentic costumes and take a Samba workshop before savoring a cocktail.  Be greeted by your guide at Samba City and begin your behind-the-scenes tour. See the carnival factory and find out how the floats and costumes are produced for the parade. Uncover the history of Samba and hear the story of Rio's carnival.  Try on some authentic carnival costumes and get some stunning glam shots. Participate in a Samba workshop with a professional dancer from a Samba school. Finish your tour by sipping on a delicious caipirinha, Brazil's national cocktail.

Rio de Janeiro: Guided Food Tour with Tastings and Drinks

6. Rio de Janeiro: Guided Food Tour with Tastings and Drinks

In the company of a licensed guide, you will visit farmers markets, traditional restaurants and bars only known by the locals. The tour guide will be very informative about art, history, culture and the architecture of the neighbourhoods like Urca, Santa Teresa, Lapa, Gloria, Laranjeiras and downtown. The menu includes traditional food such as: Tapioca crepes and cheese bread (both gluten-free), açai, café, cachaça, caipirinha, pastel, coxinha, brigadeiro, sweets and cakes, sugarcane juice, Brazilian nuts, fruits, juices and craft beer. You can also choose one typical meal. This menu varies a little depending on the places visited. We also have options for vegetarians. The tour is vehicles with air conditioning. This tour is in small groups, (no more than 10 people).

Rio: Olympic Boulevard, Museum of Tomorrow & History Tour

7. Rio: Olympic Boulevard, Museum of Tomorrow & History Tour

Begin your tour by being picked up from your hotel and discover the many hidden gems in Rio’s Downtown area with a tour guide. Start at the Valongo Wharf (the latest Unesco World Heritage site in the city) and learn more about the African influence in Brazil. Then head to the Kobra Mural — one of the largest graffiti walls in the world — created by the Brazilian artist Eduardo Kobra, to admire the five ethnic groups portrayed in a colorful geometric background. After a few pictures, you will walk along the Olympic Boulevard towards the Museum of Tomorrow. This is a modern and technological science museum dedicated to exploring and questioning all the possibilities for constructing the future of the planet and mankind. Discover its remarkable architecture, and pay a visit to the most visited museum in Brazil. After exploring the future, travel to the past in the Monastery of Saint Benedict, where you will experience the contrast of the simple façade, with the interior covered with golden ornaments, a heritage from the Baroque period. Before heading towards the historical streets of Rio, you will see the Rio 2016 Olympic Cauldron created by the American artist Anthony Howe. You will notice the reflective-kinetic-sphered-structure is a reminder of the Games. At the Praça XV, you will see one of the former headquarters of the Brazilian empire and learn more about important facts of Brazilian history that happened in the area. Your last stop will be at Confeitaria Colombo (closed on Sundays), one of the “must-see cafés” from around the world. Enjoy the opulent art nouveau decorated with huge stained glass, tiles, and mirrors imported from France, Portugal, and Belgium. You can finish your tour tasting one of the Brazilian traditional snacks such as the coxinha de frango (‘little chicken thigh’), or desserts such as the brigadeiro (‘brigadier’) in one of Rio de Janeiro’s most prestigious places at the beginning of the 20th century.

Rio de Janeiro: Private Full-Day Highlights Tour

8. Rio de Janeiro: Private Full-Day Highlights Tour

Visit Rio's top attractions on this exclusive private tour. Get picked up at your accommodation by your professional, English-speaking guide and your adventure starts by visiting Christ the Redeemer. Travel through a rainforest to reach it and then, after a photo at the awe-inspiring statue, head to visit the Maracanã Stadium, the main site of the 2014 FIFA World Cup and 2016 Rio Olympics. Stop at the Sambadrome where Rio’s Carnival competition takes place, and learn from your guide about Brazilian Carnival culture. Continue the tour through the historic center of Rio and stop at Colombo Bakery, open since 1894. It still preserves its Art Nouveau décor (food and drinks available to purchase), and is closed on Sundays. Next, visit The Metropolitan Cathedral of Rio de Janeiro, a masterpiece of modern art that takes influence from Mayan pyramids. Drive past the bohemian Lapa district, where the monumental aqueduct was built in the mid 18th century to transport water from the Carioca River to the city center. Stop and explore the Selaron Staircase – 215 colorful steps, one of the most fascinating and original staircases in the world. Conclude your trip visiting the Sugarloaf mountain, taking the cable car from Urca hill up to the top. This unique rock formation also offers a fun way to reach its summit, enjoying views out over Rio and its surroundings. At the end of your tour, enjoy comfortable transportation back to your accommodation.

Rio: Historical Walking Tour

9. Rio: Historical Walking Tour

Take the subway and enjoy a guided walking tour in downtown Rio. Rich in history and buildings of great architectural appeal, the center of the former capital of the country is best absorbed in the details when you walk through it. Travel by subway to downtown, arrive at Cinelândia Station an area with relics of the French architectural influence.  On the way to Carioca square see the Naval Club, the Monastery Church of Santo Antônio and the Ordem Terceira de São Francisco da Penitência. Visit the Confeitaria Colombo, built in 1894, Tiradentes Palace (State Hall), Praça XV including the Imperial Palace, the statue of General Osório, Mestre Valentim's Fountain and the Teles Arch. Reach the cobble-stoned Travessa do Comercio and the former residence of Carmen Miranda. See the Church of Our Lady of the Merchants, the Post Office Cultural Center, France-Brazil House, Bank of Brasil Cultural Center and Candelaria Church. Before heading back to your hotel by subway. 

Rio: Olympic Boulevard, AquaRio and Museum of Tomorrow Tour

10. Rio: Olympic Boulevard, AquaRio and Museum of Tomorrow Tour

Take an insightful excursion through Olympic Boulevard, the city's port area that houses the newest of Rio's attractions. Enjoy an informative commentary from your guide and visit the modern Museum of Tomorrow, as well as the AquaRio aquarium, depending on the option you choose. Take advantage of a hotel transfer and head out on your exciting Rio adventure. Visit the Museum of Tomorrow, a technological applied science museum dedicated to exploring and questioning all the possibilities for building the future of the planet and the human race. Take photos of the unusual architecture before walking in to explore the exhibits. Afterward, make a stop at the Kobra Mural, one of the largest graffiti murals in the world, created by Brazilian artist Eduardo Kobra. Observe five ethnic groups depicted realistically before a colorful background. If you book the AquaRio option, you'll have the chance to visit the largest marine aquarium in South America. See more than 5,000 animals from 350 different species from around the world in 28 saltwater tanks. Get up close and even interact with an immense variety of fish, rays, sharks, and corals.

  • Guided tours
  • Private tours
12 activities found
Sort by:

Frequently asked questions about Rio de Janeiro (State) Sightseeing Walking Tours

What are other things to do than Sightseeing Walking Tours that are worth visiting in Rio de Janeiro (State)?

The other unmissable things to do in Rio de Janeiro (State) are:

Which Rio de Janeiro (State) Sightseeing Walking Tours are taking additional COVID-19 precautions?

Other Sightseeing Options in Rio de Janeiro (State)

Want to discover all there is to do in Rio de Janeiro (State)? Click here for a full list.

What people are saying about Rio de Janeiro (State)

Overall rating

4.7 / 5

based on 454 reviews

We really enjoyed our time. Juçara was very friendly and informative. She was happy to answer all our questions and we felt safe the entire time. To start the tour off, we took the bus to the favela, where we explored both main streets and small alleyways. We got to meet the locals living there and enjoy the breathtaking views of Rio from various viewpoints. Would recommend to everyone, such a unique experience.

It was very informational. Our guide was very knowledgeable of the area as she was born there. Stopped at local shops to support the community. Would definitely recommend to anyone who wants an amazing experience.

Top group, lots of fun, very committed and very nice :) thanks Max, for the recommendation for the fish restaurant in Lapa, went there 3 times in a row :) greetings Michael and Theresa from Germany.

Genuine experience. You get to know a lot about samba and carnival! Totally with the price, all the funds are distributed to an NGO.

Very nice guide with a lot of knowledge about the forest. Would definitely recommend when staying in Rio.