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To get to Ilha Grande you have to take a boat. There are three main points of departure, they are in order from north to south: [[Mangaratiba]], Conceição de Jacareí
Perhaps the best way to get to the island from Rio is to take the 05:00 Costa Verde bus to Mangaratiba (R$37.50 as of May 2016), it will leave you at the dock a little past 07:00 so you'll have time to have breakfast and take the 08:00 Barca to Ilha Grande (R$15). You can buy the tickets for the boat right there in a booth, it won't be full because it has a 1,000 passenger capacity. It is also possible to overnight in Mangaratiba, although options are limited - there are no hostels, only a couple of pousadas and a hotel.