In every hostel/hotel you go, you'll find cards of local guides that are willing to take you for a walk in the mountains. It's a worthy experience...not only to see the city of Tiradentes from above, but also to visit some lovely landscapes and great waterfalls.
From the top of the mountains, you can also see the city of São João del Rey.
It's not a difficult hike and even children can do it easily. Takes about 3 hours with a guide and do worths the experience. Prices may range from R$ 15,00 to R$30,00 per person.
This are Pola and me in Tiradentes, celebrating carnival in the street!
A Pola e eu no Tiradentes na rua celebrando o carnaval!!!
Esas somos Pola y yo en Tiradentes, festejando carnaval en la calle!