The Brazilian Navy's submarine force is based at Base Almirante Castro e Silva, Mocangue Island, which is near Niteroi, just across the bay to the east of Rio de Janeiro.

The first of class submarine, Tupi (S30), was designed and built in Kiel, Germany, by Howaldtswerke-Deutsche Werft (HDW) and commissioned into the Brazilian Navy in 1989.

The Arsenal de Marinha naval shipyard in Rio de Janeiro constructed the Tamoio (S31), commissioned in 1994, Timbira (S32), commissioned in 1996, and Tapajo (S33), commissioned in 1999.