To get to Teresópolis from Rio de Janeiro you can take a bus from the Novo Rio bus terminal.
The journey takes around 2.5 hours and there are various schedules available throughout the day. It can also be reached by car by taking the BR-116 and then the RJ-130.
If you are traveling from São Paulo, you can take a bus from the Tietê Terminal or from Guarulhos Airport. The trip takes around 5 hours.
See more about the history of Teresopolis
See also information on São Paulo.