To get to Saquarema from Rio de Janeiro you can take a bus from the Rio de Janeiro bus station to Saquarema, which takes about 2.5 hours.
It is also possible to arrive by car, taking the BR-101 highway until the detour to Saquarema.
Another option is to take a taxi or a private transportation service. The nearest airport is the Rio de Janeiro-Galeão International Airport, located about 2 hours away by car.