Went with a Visao Vertical guide. Gorgeous!
Hiked with David Ochel and Marcus André Torres. The weather was perfect, a few clouds, not too hot but dry. The short section featuring some "climbing"/scrambling is doable (the downclimb is a little harder), but I guess it sucks a lot when the rock is wet (as does the rest of the trail when it's wet). There was an ant colony spread all over one part of the trail (below the steep part) so we had to pass quickly in order to avoid being biten excessively. The views on top were breathtaking, definitely worth the effort. There are not many tourists, mostly locals and some foreigners with guides.
The climb is steep, gaining 800 meters in elevation over 1600 meters of trail. The weather was crystal clear but not hot and the mountain was very crowded, with at least 100 people on the trail. The climb has a lot of variety, beginning in lush rain forest and finishing on open rock. There are a few sections of scrambling (over rocks and roots) and one ~30 m section of rock climbing - a rope is not necessary, but many groups choose to use one. The view is utterly jaw-dropping from the top. One of the most satisfying climbs I've done. If you're in Rio, it is a must-do.
went up with a friend....what a view!
The phrase "cidade maravilhosa" can only be understood by standing on top of Pedra da Gavea. The weather was perfect the day we climbed; the only drawback being a brief helicopter landing.