Hit the pavement and explore downtown Rio Antigo on foot, listening as your knowledgeable guide points out historical sites and iconic architecture like Praça XV, the Imperial Palace, the Metropolitan Cathedral, and the vibrant, bustling neighborhoods of The Marvelous City.

After being picked up from your hotel, begin your tour at the Sao Bento Monastery. This 16th-century church complex features rococo carvings and a beautiful, filigreed altar. From there, admire the Baroque façade of the Igreja da Candelária and continue on to Praça XV in the Portugese heart of town. Learn about the historic events of the landmark Paço Imperial palace, then make your along historic Travessa do Mercado to the Old Cathedral.

This towering edifice was used as a royal and imperial chapel by the Portugese and Brazilian ruling families. Pass by the Art Deco Banco de Brasil building, which houses art galleries and theaters, and learn about the neoclassical Casa França-Brasil.

Stroll up elegant Rua do Ouvidor and by the shops of Rua Gonçalves Dias, where you can pop into the historic Confeitaria Colombo. This turn-of-the-century coffee house features stunning Belle Epoque décor and stained glass as well as world-famous pastries and tea.

Wander up the lively flea markets near Uruguaiana Station and Carioca Square before your tour concludes at the Metropolitan Cathedral.