Some cities we know by name long before we set foot in them. Rio de Janeiro is one of them: you arrive and feel you have been there before, so deeply does that postcard live in our affectionate memory. Then the coach rounds a bend, Guanabara Bay opens up, Pão de Açúcar (Sugarloaf Mountain) stands out against the blue sky and your heart skips a beat. It does not matter what age your documents say: here, everyone becomes a child again.

The Cidade Maravilhosa (Marvellous City) was made to be seen from above, from afar and up close, and every angle holds a surprise. For those travelling in a guided group, with everything organised and nobody getting lost on the slopes, Rio is even more enjoyable. Get your hat, sunscreen and smile ready: let's go.

What is Cristo Redentor in Rio de Janeiro?

Cristo Redentor (Christ the Redeemer) is the monument that, with open arms, crowns Morro do Corcovado in Rio de Janeiro, 700 metres up, and it is one of the Seven Wonders of the Modern World. Inaugurated in 1931, the monument is both sacred art and a symbol of Brazil, and looking out over the city from up there is one of those emotions that stay with you for ever.

The ascent is already part of the magic. The Corcovado train climbs slowly, laying its track through the Mata Atlântica (Atlantic Forest) of Floresta da Tijuca, one of the largest urban forests in the world, and the greenery embraces the carriages while the city disappears below. For travellers aged 60+, this century-old little train is a blessing: you go up seated, without effort, enjoying the scenery, and step off close to the viewpoint.

Up there, on the terrace at the foot of Cristo, the whole city kneels in silence. No wonder so many people arrive with tears in their eyes.

How do you get up to Pão de Açúcar in Rio de Janeiro?

Pão de Açúcar is a smooth rock hill at the entrance to Guanabara Bay, in Rio de Janeiro, that looks as if it was sculpted just to decorate the landscape. The highlight here is the two-stage ride on the famous Urca cable car (bondinho), in operation since 1912 and one of the first cable cars in the world.

The first stop is Morro da Urca; the second takes you to the top of Pão de Açúcar, at 396 metres. From up there you can see Guanabara Bay, the beaches, Cristo in the distance and ships coming in and out. A golden tip: go in the late afternoon and watch the city swap the blue of the day for the gold of sunset and the little lights of the evening. Accessible and with no demanding walks, the cable car is perfect for those who prefer comfort.

Copacabana, Ipanema and sunset at Arpoador

Rio is also lived at sea level, with your feet almost in the sand. Copacabana stretches out its four kilometres of promenade with that black and white wave pattern created by Roberto Burle Marx, in one of the most pleasant walks there is: flat, wide, with benches to sit on and a breeze all the time.

Next door, Ipanema has a more sophisticated air and the famous beach that became a song. And when the day says goodbye, everyone walks to the rock at Arpoador, between the two beaches, for the most beautiful ritual in the city: the sunset, which disappears behind Dois Irmãos and Morro do Vidigal and draws spontaneous applause from the crowd. It gives you goosebumps, and it costs nothing.

What is there to see in Rio de Janeiro's historic centre?

The centre of Rio de Janeiro preserves the elegant side of the city's past, far from the beach cliché. The Theatro Municipal, inaugurated in 1909 and inspired by the Paris Opera, is a jewel of marble, crystal and bronze. Close by, Confeitaria Colombo, open since 1894, serves coffee and cake in an art nouveau hall with Belgian mirrors that feels like a journey back in time, the kind of table where you want to stay chatting all afternoon.

Then there is Escadaria Selarón, which links Lapa to Santa Teresa: 215 steps covered in colourful tiles from more than 60 countries, the life's work of the Chilean artist Jorge Selarón. It is the most photographed place in Rio, and rightly so: every step is a joy.

Santa Teresa, Lapa and the Arcos

Up the hill, Santa Teresa is Rio's bohemian and charming neighbourhood, with old mansions, artists' studios and cobbled streets. Its yellow tram (bondinho), the last one still running in the city, crosses the Arcos da Lapa swaying gently between the houses, on a ride that seems to come from another era.

Below lies Lapa, with its white and imposing Arcos, the former 18th-century aqueduct that is now the symbol of Rio's nightlife and of choro (traditional Brazilian instrumental music) and samba. By day, Lapa is quiet and full of history, ideal for a photo under the arches and some live chorinho.

What is Maracanã in Rio de Janeiro?

Maracanã is the temple of Brazilian football, in Rio de Janeiro, host of two World Cups (1950 and 2014) and of Olympic finals. Even those who do not follow football are moved when they step onto the most famous pitch in the country and hear the stories of those stands.

And here is a combination that makes complete sense for our travellers: Rio fits beautifully into the itinerary of those travelling to or from the Vale do Paraíba, home to Aparecida, with the largest Marian shrine in Brazil. Combining the Cidade Maravilhosa with devotion to Nossa Senhora Aparecida turns the trip into a journey of beauty and faith, with no long detours. See how this fits into our expeditions in winter.

For travellers aged 60+

Travelling around Rio with a guided group means swapping worry for joy. Someone takes care of the tickets, entrance passes, queues and route, while all you have to do is take in the scenery, chat with new people and gather memories. The Cidade Maravilhosa becomes even more marvellous when shared in good company, and the best part is discovering that you start missing it even before the coach sets off for home.

Cover image: CC-BY-SA 3.0 (author: Artyominc), via Wikimedia Commons (https://commons.wikimedia.org/wiki/File:Christ_on_Corcovado_mountain.JPG).