the ferry to charitas is the boat that arrives closest to the parque, and on this link is the schedule from praça xv, the ferry station from where all boats to niterói depart.

for visitors coming to niterói from rio de janeiro via boat, the easiest place where to find a taxi and arrange for a ride back would be at the ferry station called Estação Hidroviária de Charitas, located on  Avenida Prefeito Silvio Picanço, Jurujuba, Niterói (the continuation of  Avenida Quintino Bocaiúva.

at the Estação Hidroviária a variety of cabs can be hired, and the cell number of the company or the driver can be kept to facilitate pick-up on the way back.