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.   

in guaratiba, alexandre bigode and his team can 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.

getting to this part of the city from zona sul can be time consuming due to traffic and narrow roads.

average travel time from zona sul to this area of rio is about 80 minutes by car, or 120 minutes by bus.  week-ends have less traffic, and faster travel times.