Mamangua bay is accessible through a sea route, by boat from Paraty-Mirim (45 minutes) or from Paraty (1h30min) or by motorboat (30 minutes from Paraty and 15 minutes from Paraty Mirim).

The five kilometers dirt road that takes you Paraty-Mirim Beach (where it´s possible to park the car and get the boat to Mamangua Bay) is located 62 kilometers from Ubatuba (on the way to Paraty) and 10 kilometers from Paraty (on the way to Ubatuba) through the road BR 101 Rio-Santos on Km 581.