To get to the trailhead, start out of the parking lot near the park gate. You'll run along the Estrada para o Abrigo Rebouças, an old dirt road that takes you to the Rebouças Shelter. From here, take the Pico das Agulhas Negras trail to the junction with the trail to Pedra do Altar. The trail to Asa de Hermes branches to the right.
This is a well-beaten track with some signposts along the way. The final stretch for the ascent to Hermes is exposed and with some steep terrain. You'll want to watch your footing on the many rocks and cracks as you climb up to the rock formation.