leaving from ipanema, there are two companies offering the service between rio de janeiro and niterói - braso lisboa onibus, and auto viaçăo 1001. 

exact schedules and itinerary can be seen on this page by braso lisboa, and on this page by auto viaçăo 1001.

if going by ferry, boats to niterói leave from praça xv de novembro in central rio de janeiro and get to Praça arariboia in niterói every 20 minutes - exact schedules and fares can be seen on this page by ccr barcas, the company responsible for the service.

alternatively, if going by catamaran, faster and more comfortable than the ferry, travelers can reach the neighborhood of charitas in niterói - closer to parque da cidade - niterói and săo francisco beach.