There are dozens of escort agencies through which you can book girls for a few hours during the day or evening. Many have web sites where you can check out the girls pics (usually minus views of their faces). Many also have books of photos, so you can go to their offices and select a girl from the book. Most agency staff speak only Portuguese, so arranging something by phone can sometimes be a challenge if you don't speak Portuguese. The prices vary considerably, but you can often find a beauty to come to your hotel for two hours for between 130 and 250 reais. Try to find a deal like this in New York!

Many of the agencies are listed in the local yellow pages, and many also advertise in the classified sections of the major papers. Here are a couple of web sites just to wet your appetite:
http://www.karlamodels.com.br
http://www.companygirl.com.br
http://www.hotside.com.br
http://www.agenciaroberta.com.br
http://www.sexyhall.com/principal.htm
http://www.barravips.net