Star your tour with convenient pickup at your hotel in São Conrado, Leblon, Ipanema and Copacabana, at 8am. Transfer to the Marina da Gloria to catch the boat, departing at about 9:30am for your cruise on Guanabara Bay.
One of the first sights from the boat is the Museum of Tomorrow (Museu do Amanhã), designed by Spanish architect Santiago Calatrava. Cruise under the Rio-Niteroi bridge and get views of Santa Teresa, the Santos Dumont airport, and Rio's three forts. As you circle back past Niteroi, you'll get one of the best possible panoramic views of Rio.
Back on land, sit down for a Brazilian-style barbecue lunch, known as a churrascaria. Vegetarian options are also available.
Board a van and travel to Santa Teresa, home to the artist Jorge Selarón's famous mosaic tiled steps. Spend about 10 minutes exploring the steps and snapping photographs before heading to Cosme Velho, then up Corcovado Mountain through the lush Tijuca rainforest. Arrive at the Christ the Redeemer statue, one of Rio's most iconic attractions, where you'll spend about 40 minutes hanging out and enjoying the views.
Your tour's last stop is Sugar Loaf Mountain, which you will reach by a two-step cable car ride. A stop on Urca Hill is followed by a stop at the summit for incredible citywide views. Spend 45 minutes at the top of the mountain watching the sunset before returning to the base by van, then making your own way back to your hotel.