Bolsonaro's promises to crack down on crime by arming average citizens has proved popular among voters, though experts warn it could increase unrest.
In Rio, authorities are facing a record crime wave that has claimed tens of thousands of lives and damaged the city's critical tourism industry. Tourists traveling with cameras and smartphones have become easy targets, particularly on the popular route to the Redeemer statue.
"For a year and a half, there have been a large number of cases on this trail," Valéria Aragão, chief of Rio's tourism police, told reporters. The tourism police have conducted joint operations to combat the muggings in the area.
The city lost over $200 million in tourism revenue in 2017 due to crime and violence, according to the National Confederation of Commerce of Goods, Services and Tourism.
Rio saw a respite in homicides at the start of the decade. But a gruelling recession dried up police budgets and left areas that were once heavily policed to the mercy of warring gangs.
Last February, Brazil's then president, Michel Temer, declared a state of emergency and deployed the military to occupy the streets of Rio.
In his inauguration speech on Tuesday, Bolsonaro said Brazil was entering a new era.
"Our concern will be the safety of good people, a guarantee of property rights and of the right to legitimate defense," he said.