Various schooners offer five-hour trips around Paraty [1]’s bay with stops at islands such as Ilha Comprida (known for its diving) as well as otherwise inaccessible beaches such as Praia da Lula and Praia Vermelha. Lunch is included, as are caipirinhas (and sometimes rambunctious live music that might grate on those who imagined a more bucolic outing).
For more information contact Paraty Tours (Av. Roberto Silveira 11, tel. 24/3371-1327, www.paratytours.com.br [2]), which also organizes diving, kayaking, horseback riding, and hiking trips. A five-hour tour with Paraty Tours costs R$20 per person. Individuals and small groups can also charter boats at an hourly rate from the barqueiros at Cais de Porto.
Links:
[1] http://www.moon.com/destinations/brazil/rio-de-janeiro/costa-verde/paraty
[2] http://www.paratytours.com.br