one excellent company is jungle me,  a company focusing on the interaction of nature and the city - they can be contacted via phone at 21 4105.7533, via email on this link, or via the official website here.

trilha a pé can be contacted via phone at 21 2541.5422, via email on this link, or via the company's website here. 

e-trilhas, also specializing in rock climbing, can be contacted via their website on this page, or by calling 21.3437.1056.

rioxtreme, can be contacted via their website, or via email on this link.  by phone, they can be reached at  21.8516.1146 or 21.8516.0636. 

important - mountain climbing, hiking, or any other outdoor activity is subject to risks of serious accidents, including death - people who do not possess proper hiking or climbing techniques, experience, and/or are not in excellent physical shape must hire or consult an expert trainer or guide for safety.