Following pickup at your hotel by your guide, travel to Academicos do Salgueiro, one of the most popular samba schools in Rio.
Each samba school rehearses all year for the one night of competition in the Sambadromo during Carnival, and when these rehearsals are open to the public, they get pretty rowdy. Rio locals flock to the events to sing and dance into the early hours of the morning.
Enter Salgueiro to find a packed courtyard with the band in the center. Purchase a snack or drink (own expense) at one of the food stalls surrounding the dance floor. Sit at a group table to enjoy your food and libations, or take a break until it's time for more singing and dancing to traditional samba songs.
When you've had your fill of food and drink, met some locals, sing along to some songs and dance until your feet hurt. Afterward, enjoy drop-off back at your Rio hotel.