You can rent a car if really wanted but we advise not too as you don't want to turn off somewhere wrong and end up in a favela ( slum) bad move! Public transport is excellent here. On this of rio the favelas are very small so don't be afraid. And where our Pousada (b&b) is there is none!! If needed airport transfer my husband is a qualified tour guide for Rio. And any tours you want to do he is very reasonable!!