A walking tour in Rio usually means joining a small group led by a local guide for 3-4 hours, covering either historic downtown, the hills of Santa Teresa, or the favelas. Expect a mix of walking on uneven sidewalks and some steep bits, with plenty of stops for stories about history, street art, and daily life. It's a solid way to get oriented and ask questions you'd never think of on your own, but you'll spend most of the time in a group of 6-12 people moving at the slowest member's pace. The heat and humidity can make it tiring, especially if you're not used to tropical weather.
The best time to do it is during the shoulder seasons (April-May or September-October) when it's warm but not punishingly hot and the rain isn't constant. Expect to pay around $35-70 per person depending on the length, group size, and whether transport or snacks are included. Private tours sit at the higher end.
Pick a tour that matches your actual interests: downtown for first-timers wanting architecture and culture, or a favela tour only if you're genuinely curious about local realities and okay with the ethical questions. Skip the generic "highlights" tours that try to squeeze in Copacabana and Christ the Redeemer on foot - they're rushed and pointless. Wear comfortable broken-in shoes, bring water, and don't flash your phone or valuables around.