Although from now on the federal laws seem to guarantee facilitated access to tourists attractions for people with a handicap, there are lots of places which haven't yet been significantly adapted during a trip to Brazil.
Brazil must still make further efforts to improve the situation, even if some improvements were made during the World Cup. You are recommended to be particularly attentive when planning your trip to Brazil and to contact hotels to check whether their facilities are suitable for you.
It might also be worth planning a trip to Macéio, the city considered the most suitable for welcoming people with a handicap according to the Brazilian Statistical Institute: lots of hotel rooms will be able to host you, and small boats, especially fitted out, enable you to enjoy a trip in the sea.
As for the resorts, you can count on Ilha Bela, one of the most sought after beaches in the country. The government of Sao Paulo has carried out a big project to allow easier access to the beaches in Perequê, Sino and Praia Grande. You can access them via ramps, and specialist chairs guarantee access to the sea.
For nature lovers, you must stop off at the Iguazu Falls, perfectly adapted to welcome people with a handicap. But discovering the Chapada dos Guimaraes, north of the Pantanal, Brotas and Socorro, might also be a nice surprise. The latter two are specialised in adventure tourisms and specialist agencies organise multiple activities (rafting, abseiling, yodel, etc.) accessible to all.