Tours
There are tour agencies all over lenã§ã³is. you can book tours at the tour agencies themselves or through your hotel/hostel. they can take you by car to many of the locations listed in the "see" section. short hikes are involved in actually getting to the sites.
Rock Climbing
You can get a guide to take you rock climbing through the tour agencies. they provide all the equipment and a personal english speaking guide.
Hiking
There are many trails and places you can go on your own or you can go with a group tour. if you go on your own, ask at your hotel/hostel where you should go.
Camping
Some hostels, like pousada dos duendes will arrange group camping trips. you can go on several day hikes and the guides will provide all the food and camping gear. if you have the time, it could be a lot of fun.
Rappelling
Book through a tour agency. make sure you check where they are going and how far the descent is. some days they have smaller places to rappel that aren't worth the price.