going by car  is fairly complicated,  and navigating through niterói's streets can be quite difficult, even with a gps.

the car ride includes crossing the longest bridge in brazil, the ponte rio - niteróiwhich just like the name implies, connects the two cities. 

the bridge is 13 km (8 miles) long, and there is a toll of few reals which is paid only one way, coming from rio.

the parque da cidade is at the end of estrada da viração, in the são francisco neighborhood, and can be seen on this google map.