trilhas do rio de janeiro is an organization of professional hiking and climbing guides - it can be contacted via form on this link, or via telephone at 21 3884.0311, also the organization provides a list of all hikes here. 

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

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