Guides by Lonely Planet
Free Walker Tours
This well-organized outfit runs a free walking tour that takes in a bit of history and culture in downtown Rio. You'll visit the Travessa do Comércio, Praça XV, Cinelândia, the Arcos da Lapa and the Selarón steps, among other places. Although it's free, the guide asks for tips at the end: by our reckoning, R$50 seems fair for the insightful three-hour walk.