one excellent company that arranges guided tours to this area with car pick-up from the zona sul is jungle me,  a company focusing on the interaction of nature and the city.

based at praia do canto, the guide alexandre bigode and his team provide tours via land or sea -  alexandre is reachable via phone at  21 2410.0515  / 98218.2875  / 7852.7363 or via email on this link.   

this link shows praia do perigoso on a wikimapia - the link as we present it is best seen using google chrome, as it might not open correctly with other browsers.