Hike Pedra da Gavea
If you want an incredible view of Rio, set out early in the morning to hike Sugarloaf Mountain, one of the most popular hikes that should only be attempted by the most adventurous of travelers. It holds the record for being the tallest mountain to border the sea. It towers over the bay at over 842 meters above sea level, just south of the city, for a panorama view you will never forget.
Plan on it taking you 2 to 3 hours to complete. You will begin your hike through the Tijuca Forest and then make your way up the mountain to the top of the peak. Bring lots of water and pack a lunch because once you get to the top, you will not want to leave.