This is the hotel we stay in when we visit. It is on sand of Ipanema beach. The food and staff are amazing. Please note the rooms may be smaller than American hotel rooms but they are comfortable and the location is perfect.
This is another hotel we recommend that's walking distance to the Arena hotel and just a couple of short blocks inland from the beach.
We strongly suggest the area of these two hotels (Ipanema) due to their safety, and location to attractions and shops. Copacabana is next door and has many more hotels, but higher prices and Copa is more rowdy compared to the Ipanema side.