it is not recommended to try reaching one beach from the others by walking along the coast on the rocks, as the tides can change suddenly and the area is slippery, with no readily available medical help in case of accidents. 

a local guide is always recommended especially to provide first-aid in case of accidents such as falls or snake bites, and to arrange a rescue in case of more serious injuries.  reports of accidents, however, are very rare.

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.