From Rio's international airport you may take the safe bus service to the center of the city, where it makes several stops. However, booking a roundtrip shuttle transfer in advance may be the wisest idea.

Once in the city you'll most likely be staying somewhere between Copacabana, Ipanema, or Leblon, and it is possible to walk around along the beachfront through those areas without the need of ever using public transport. However, if you are planning to see the center or cross over to Niteroi's museum, take the metro or a taxi called by your hotel. To reach Niteroi, take one of the fast, comfortable, and safe ferries.

Another option to get to Niteroi and elsewhere beyond Rio is to rent a car.