There are loads of Brazilian street parties every week.
On Mondays there is the famous pedra do sal in the centro. Some of the best Brazilian samba performers play there
On Tuesdays there is samba at the famous Beco do rato.
Cardosão in Laranjeiras is really cool too. Jazz on Tuesdays and samba on the weekends.
Every second Thursday there is a nice samba at Alalaô quiosque by Ipanema’s beach.
Samba do Ouvidor on Saturdays is also great.
Here is a list of the most famous weekly street samba events : https://www.sambando.com/as-10-rodas-de-samba-mais-tradicionais-do-rio-de-janeiro (page can be translated into English but checkout the names in Portuguese on Google to find their locations). Some of them are listed above.
I also highly recommend going to Rio Scenarium in Lapa which is a club dedicated to Brazilian music with various rooms and stages. You can eat, drink and dance there. For sure you’ll have a good time. The best is to buy tickets before going there. You can easily get them online
