You book this on their website. Tours are 9:30 and 13:30. We had an English speaking guide and shared him with some Dutch people. We took an Uber there and found our own way back using the local bus which connected to the BRT Metro bus. Surprisingly straightforward. Gardens and the house are spectacular and the tour was very well organised.Took about 1:5 hours. Cheap as well 10 reals entry, or half price if over 60! Don't miss it if you are in Rio area.