Paraty is a long, yet well worth it, drive along the southbound coast of Rio de Janeiro state.
One leaves Rio quite early, so as to reach the "Saveiro" ship's departure (11am) for a 4-hr-cruise through the innumerous beautiful islands of Paraty's bay. Lunch will be offered onboard.
Returning from the cruise, there's some time for souvenir shopping in Paraty's 18th-century cobble-stoned streets and houses, preserved as they were then by a UN-decree.
This tour can take 12 hours; but I also arrange an overnight tour. See: Rio Roundtrips