This dissertation has as collective research subjects the quilombolas from the community of Baía Formosa, located in Armação dos Búzios, Rio de Janeiro. The focus is on the analysis of the forms of territorial r-existence of this community, a concept that encompasses ontological, epistemological, collective, ancestral, social and economic elements, in short, the specific forms of existence of this group, as a strategy of resistance, organization and political articulation aiming the realization of territorial rights constitutionally guaranteed to the communities of remnants of the quilombos. After the expulsion of part of the families from the region by farmers in the 1970s, the community has mainly guided the return of these families to their lands, triggering a vast repertoire of strategies to do so. Having as a theoreticalepistemological assumption the understanding that coloniality in its multiple dimensions is the (dis)organizing logic of the modern/colonial capitalist worldsystem and that Brazil is part of this web of heterarchical relations of domination as a subordinate country, reproducing internally this logic as a legacy of its colonial past through the structural and structural racism of Brazilian society, it is understood that the community of remnants of the Baía Formosa quilombo, by employing its territorial r-existence tactics, is undertaking a front to fight against coloniality and its multiple expressions, in other words, is a decolonial form of experience, resistance and existence. The methodological paths adopted consisted of participant observations in the field, a space where it was possible to engage in dialogue with both the leaders and other quilombolas, in addition to enabling the experience of collective practices and forms of group organization. In the meantime, two semi-structured interviews were carried out along the lines of oral history, one with the president of the Baía Formosa Quilombo Remnants Association, and the other with one of the community elders.