Praça do Papa in Belo Horizonte is a great, FREE place to visit and look out across the city if you’re here for the 2014 World Cup. It was once visited by the big man himself, hence the name.
It’s an incredible view and if you bring a bottle of wine or some beers you can spend a few hours there and watch the sun-set.
Even higher up in the mountains surrounding BH is Mirante, in the Mangabeiras neighborhood, with an even better view of the city. Both free and accessible by car or walking. The view will blow your mind, it’s like looking at a city made out of lego.
Look them both up on Google Maps and take a bus over there. If you like hiking you’ll love the hills.