At 1,161 feet (354 meters) high, Pedra do Telégrafo, located in Pedra Branca State Park, offers sweeping views of beaches and Guaratiba Hill. With a guide, you'll hike to the summit, stopping at viewpoints along the way for photo ops. When booking, you can select the group tour option or upgrade to a private tour, which includes hotel pickup and drop-off in Rio de Janeiro.