Grupo Capoeira Brasil was founded on January 14, 1989 by Luis Roberto Simas, Paulo César da Silva Sousa, and Paulão Sales Neto known in the capoeira community by their nome de guerra: Mestre Boneco, Mestre Paulinho Sabiá and Mestre Paulão Ceará, respectively. All three Mestres had trained under Grupo Senzala, one of the most influencing capoeira groups and pioneers of Capoeira Contemporânea during the late 1960s and 70s. Paulão, Boneco, and Paulinho trained under the guidance of Mestre Camisa.

During the late 1980s, as a result of different ideologies, many of Grupo Senzala's "Corda Vermelhas"/"Red Cords" (Grupo Senzala's highest graduation) left to pursue their own work. As such, Grupo Capoeira Brasil was inaugurated in the city of Niterói, Rio de Janeiro, Brazil, in honor of the recent centennial of the abolishment of slavery in Brazil. Under the supervision and blessing of its "padrinhos", or godfathers, Mestre Gato, Mestre Peixinho and Mestre Rafael Flores(founders of Grupo Senzala), Mestre Suassuna, Mestre Itapoã, Mestre Peixinho, and the late Mestre Ezekiel, Grupo Capoeira Brasil arose. Today, Grupo Capoeira Brasil has spread internationally with over 1.300 groups and 400 instructors throughout Brazil, as well as, in Africa, Australia, China, France, French Guiana, Germany, United Arab Emirates, Hong Kong, Indonesia, the Netherlands, New Caledonia, Poland, Romania, Spain, Canada, Venezuela, Taiwan, Turkey, Aruba, Curaçao, Colombia, Argentina, Chile, Italy and the United States.