From São Paulo, take the Imigrantes highway towards the beach of Guarujá. Before reaching Guarujá, you must get off on the Rio-Santos highway, which takes you to the north coast of São Paulo (litoral norte). Keep going for about 40 minutes — when you get to Barra do Una and Juquehy (two beaches), you’re close. Take a right into the beach of Baleia. This will be a dirt road that forks — north bound will be Baleia, and south bound will be Barra do Sahy. Go south. Barra do Sahy is a small, pleasant beach. Towards its southernmost part is a rocky hill. This spot is easy to get from here. Just follow the dirt path up the hill, and you’ll eventually get to the rocky cliffs the overlook the “natural pool” of ocean water below. These beaches are rather well known so there shouldn’t be a problem getting there.
I estimate that the height there was something like 20 meters, or 60 ft., from the highest point. It was dangerous, however, because your back was only about a foot at most from the rocks towards the bottom of the fall — so if you didn’t jump far enough, you’re toast. I heard nasty stories about people who died there — one of the reasons why I didn’t jump all the way from the top.