the ferry to charitas is the boat that arrives closest to the parque, and this link lists the schedule from praça xv, the ferry station from where all boats to niterói depart.

for visitors coming to niterói from rio de janeiro via boat, the easiest place to find a taxi and arrange a ride back would be the ferry station Estação Hidroviária de Charitas. located on  Avenida Prefeito Silvio Picanço, Jurujuba this ferry station is a continuation of  Avenida Quintino Bocaiúva.

at Estação de charitas a variety of cabs can be hired to transport individuals around niterói - locals might recommend visitors grab the card or cell number of the cab company they catch a ride with to facilitate pick-up on the way back.