Brazil on Foot: The 15 Best Walking Tours

1.Rocinha Favela Walking Tour with Local Guide

★★★★★★★★★★4.8 · 3,052 reviews · 2 - 3 hours · from $36Our pick

Join a two-hour guided walk through Rocinha with a local guide such as Ray, Bruno, or Carlos. Pickup is available from Copacabana or Ipanema on selected departures, with multilingual guides, air-conditioned transport, and a community contribution included in the $36 price.

“We learnt a lot from our tour guide Ray, she is from Rocinha and keen to share any details with you and answers questions in detail. She takes care of each guests individualy.”

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2.Half-Day Rocinha Favela Walking Tour

★★★★★★★★★★4.7 · 2,272 reviews · 3 hours · from $35

Walk through Rocinha with local guides such as Wellington, Alberto, Daniel, or Martin. Hear how the community developed, visit a capoeira school, meet local hosts, and reach a rooftop viewpoint over Rio. The three-hour tour costs $35, with food, drinks, and hotel pickup extra.

“Everything was very nice.. The guide took care of us and made us feel very safe. Highly recommend the tour.”

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3.Sunrise and Sunrise Walk Two Brothers with Local Guide

★★★★★★★★★★5.0 · 193 reviews · 3 hours 30 minutes (approx.) · from $64Top rated

Meet your local guide at Vidigal before dawn, ride a community motor taxi or van, then hike 1.5 km through Atlantic Forest to the 533-meter summit of Morro Dois Irmãos. Guides such as Rodrigo, Milena, Leo, and Jessie provide lamps, photos, safety help, and local stories. Sunrise and sunset departures are available.

“This was amazing! Although early, the view were impeccable! Our hike guide was knowledgeable and so helpful! Most definitely worth the money!!”

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4.Little Africa Heritage Walking Tour

★★★★★★★★★★4.9 · 177 reviews · 2h 30m · from $40

Meet your English-speaking guide at the Rio Art Museum for a 150-minute walk through Little Africa. Learn about slavery, samba, Afro-Brazilian food, and local cultural figures while visiting Pedra do Sal, Valongo Wharf, and the Hanging Garden of Valongo. Guides include Nathalia, Luana, Larissa, Eddie, Marina, and Ryane.

“Nathalia is a smart young lady who is very knowledgeable about the historic events that involved the African community in Rio. She is also passionate about her roots and was able to answer some sensitive and dilemmatic questions that the tour group had in a very heartfelt and sensible manner. Nathalia also gave good recommendations for places to eat in and hang out (in Little Africa and other spots in Rio) after the tour and most of the tour participants, including myself, even ended up having lunch together at a wonderful restaurant serving delicious bobõ de camarão (shrimp stew) and mamata. I highly recommend this tour with Nathalia. She's fantastic.”

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5.Historic Centre Walking Tour & Cachaça Tasting

★★★★★★★★★★4.8 · 96 reviews · 1h 30m · from $19

Walk Paraty’s cobbled historic centre for 90 minutes with a local guide such as Thiago, covering colonial history, Indigenous peoples, Freemasonry, and the town’s gold, sugar, coffee, and pau-brasil cycles. Finish at a local bar with a free taste of Gabriela, a sweet cachaça flavored with honey, clove, and cinnamon.

“Thiago provided a very informative tour and he answered all questions that were asked. It was a very enjoyable tour and I learnt a lot. thanks”

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6.Downtown-Center History Walking Tour – in English

★★★★★★★★★★5.0 · 91 reviews · 2 hours (approx.) · from $31

Join Giuliano for a two-hour English walking tour through central São Paulo. In a group capped at 10, you’ll see Edifício Copan, the Municipal Theatre, Pátio do Colégio, Sé Cathedral, and Liberdade, while learning how immigration, coffee, art, and politics shaped the city.

“Really excellent walking tour of some of the older parts of Sao Paulo. Pace was excellent, lots of stops to take photos, ask questions and toilets at two of the stops. Giuliano was really engaging, full of interesting information and obviously passionate about Sao Paulo and Brazil. I would love to take more tours with him if I come back to Brazil.”

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7.Downtown-Center Walking Tour | 2 Hours – English

★★★★★★★★★★4.9 · 84 reviews · 2 hours · from $37

Join licensed guide Giuliano for a focused two-hour walk through São Paulo’s center. See Copan, Galeria do Rock, historic churches, Pateo do Collegio, the cathedral, and finish in Liberdade. Expect a small group of up to 10, plenty of city context, and practical food and sightseeing tips.

“Great spending time with Giuliano exploring a handful areas in São Paulo’s historic center. I specially love how the architecture styles tell the city’s rich history! So many enjoyable insights and stops, definitely worth it to taking this tour 👌”

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8.Learn the History of Rio with an Unforgettable City Center Walking Tour

★★★★★★★★★★5.0 · 82 reviews · 3 hours (approx.) · from $49

Walk through Rio’s historic center with a private guide, starting at the Municipal Theater and ending at Paço Imperial. You’ll see Cinelândia, Selarón Steps, Lapa’s arches, the Metropolitan Cathedral, Largo da Carioca, and Confeitaria Colombo. Guides such as Rafael and Danielle have led engaging history-focused walks, and the route can be adjusted to suit your interests.

“Amazing, friendly and very informative walk around the historical center of Rio! 5 / 5 stars! Thank you!”

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9.Rio’s city walking tour: a glimpse of history and olympic legacy

★★★★★★★★★★4.5 · 78 reviews · 4 hours (approx.) · from $60

Spend about four hours exploring downtown Rio with a local guide, visiting Candelária Church, São Bento Monastery, Mauá Square, the Imperial Palace, Confeitaria Colombo, and the Metropolitan Cathedral. Hotel pickup and drop-off serve most hotels in São Conrado, Leblon, Ipanema, and Copacabana. Guides such as JB, Melanie, and André tailor the walk when group size allows.

“Highlights include Benedictine Chapel with amazing art work and the beautiful Portuguese Library both in down town.”

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10.Salvador Historic Walking Tour – Pelourinho

★★★★★★★★★★4.8 · 62 reviews

Walk from Praça Castro Alves through Salvador’s historic center and Pelourinho with a live guide in English, Spanish, or Portuguese. See Rio Branco Palace, Lacerda Elevator, Cruz Caída Square, and São Francisco Church, with time for cultural stories, local tastes, and views over the ocean. Groups are limited to 10.

“Maria è una guida molto brava e professionale, ha tarato il tour sui miei interessi e curiosità. Bellissima esperienza ! Grazie”

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11.Ecological walk in sao paulo

★★★★★★★★★★5.0 · 61 reviews · 4 to 5 hours (approx.) · from $170

Trade São Paulo’s traffic for the Atlantic rainforest of Cantareira State Park. With guides such as Denis, Luis, or Jefferson, you’ll walk forest trails, visit waterfalls, study orchids and bromeliads, and climb to Pedra Grande for a city view. Private hotel or airport transport and snacks are included, but plan for hills, mud, and several hours outdoors.

“We had a great time in Cantareira park. It is an amazing nature reserve right outside the city. While you're there you don't even realize it is so close to major metropolis (other than for the view at the top). Lots of interesting trees, plants, birds and other animals there, including monkeys. Our guide, Jefferson, was also amazing and knew a lot about the nature and the history of São Paulo.”

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12.Walking tour of the bohemian neighborhoods of Santa Teresa and Lapa

★★★★★★★★★★5.0 · 59 reviews · 3 hours 30 minutes (approx.) · from $72

Spend about three and a half hours with a small group of up to 12, riding Rio’s historic yellow tram into Santa Teresa, walking through its artistic streets, then continuing to Selarón Steps, Lapa, and Cinelândia. Guides include Edmundo, Lorena, and Ivan, a Santa Teresa native. Metro and tram tickets are included.

“What a great way to visit a special area of Rio. We were picked up at our hotel, took the Metro to the vintage tram upwards. The neighborhood is enchanting and having a personal guide, who seemed to know everyone, everywhere we went , helped me feel like I was welcome. Edmundo was our guide, being an artist himself, I felt my friend and I had a wonderfully personalized visit to a very special place”

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13.Favela Santa Marta: Walking Tour with local guide

★★★★★★★★★★4.8 · 41 reviews · 2h 30m · from $34

Spend 150 minutes walking through Santa Marta with a local resident guide in English, French, Spanish, or Portuguese. Ride the funicular to the upper streets, visit art and social projects, browse handicrafts, and stop at the Michael Jackson viewpoint. Small and private groups are available, though the route includes steep streets and is not suitable for people with mobility impairments.

“C était vraiment superbe, très interessant on a adorer avec ma fille Et encore un grand merci à Marco notre guide ☺️”

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14.Armação dos Búzios: Walk Through the Natural Pools in Búzios

★★★★★★★★★★4.4 · 34 reviews · 3 hours · from $72

Walk 3.5 km through Búzios with a private guide such as Nicole or Nicola, starting at Costa do Sol State Park. Explore Guardian Stone, rest in its shaded rock vent, then reach low-tide pools and Praia dos Amores. Bring sturdy shoes, water, swimwear, and balance for steep paths and uneven rocks.

“Excellent. Our guide, Nicole was so enthusiastic for her subject & keen to pass on to us. Good length walk, with spectacular views. Sadly we didn’t have the opportunity to swim in rock pools as advertised, but still a lovely experience.”

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15.Walking Tour – History, Art and Gastronomy

★★★★★★★★★★5.0 · 21 reviews · 2 hours - 150 minutes · from $18Best value

Walk Florianópolis with Isaac or another multilingual local guide, tracing Indigenous, Portuguese, and African influences from the cathedral to the Public Market. Expect clear history, art, local snacks, beer stops, practical bar tips, and a friendly international group. Food and drinks cost extra.

“Nice tour with knowledgeable (and great English) guide, recommend!”

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