If you're spending some time in Sao Pedro da Aldeia Centro, Lagoa de Araruama and Praia da Pitória are top sights worth seeing.
While Parque Estoril might not have many sights to explore, venturing just a little farther will lead you to top things to see and do like Siqueira Beach and Dunas Beach.
If you're spending some time in Baixo Grande, Lagoa de Araruama and Santo Antonio church are top sights worth seeing.