Puerto Quijarro

As a border town Puerto Quijarro serves like a transportation hub to and from Brasil.

There are several Buses to and from Santa Cruz with Air Condition. Daily Connections, leaving Puerto Suarez around 19:00 for Santa Cruz. It takes about 11 hr to get to Santa Cruz.
You can go as well by train but this option is considered more expensive and longer (17 hr or 13 hr). The connection is called the Death Train because it was famous for bringing the victims of yellow fever to the state capital Santa Cruz.

From Brazil

In Corumbá, go to the city bus terminal, from where line 102 drops you at a a few meters away from the , where everybody is required to fill a form and get an exit stamp that is later demanded by Bolivian immigration. The border is usually busy, queues are long, make sure to enter the queue on the right side (entry/exit). This border post is officially open every day from 09:00-18:00 Brazilian time, but reality might be somewhat different.
From the Brazilian side, it's a 5-min-walk across a bridge to the . It's a single queue for both entry/exit. Make sure to get a slip of paper with your name and entry stamp as this will be asked on your way out and is a common cause of trouble for travelers. This border post opens every day at 08:00 Bolivian time (09:00 in Brazil).
Behind the Bolivian border post building, many shops offer food, money exchange and other services needed by travelers. Counterfeit bills are widespread in Bolivia, but no need to get paranoid, just check them carefully, and politely ask to change any suspicious bill if you receive one. Brazilian Real get good rates from the border all the way to Santa Cruz de la Sierra, but further from that it's better to have Bolivianos or US dollars.
Bargaining at the border taxi stand, the ride to Puerto Quijarro bus station is Bs. 7.50 per car. Reportedly, walking a few meters further to the first junction (which also has a bank) already makes it possible to take a shared taxi for Bs. 5 per person.

To Brazil

It's very likely that the only purpose of your visit is to cross the border to Brazil. There are some reports on the web stating difficulties to cross the border (bribery, extremely long queues etc.).
As of August 2019, the situation was as stated:

• no long queues
• fast and efficient exit and entry as well as at the Bolivian as on the Brazil side; all in all 30 min
• there's only one queue for exit and entry; be sure to state your desire and to get the right stamp; Bolivian side is manned with 2 officers, Brazilian side with 3
• no exit tax for tourists (Bs. 18 for Bolivian residents)
• no problem exiting with a tarjeta electronica (issued on the main airports in Bolivia instead of the physical piece of paper received at land borders)
• no bribery problems at all
• no customs officers present
• there's no time difference between Puerto Quijarro and Corumba
• the Brazilian border post was surely operating well before the advertised opening time of 09:00
• nobody asked for the yellow fever certificate
• on the Brazilian side: get a luggage tag for the bus, then enter Bus 102 (on work days twice per hour at full and half hour, on Sundays once per hour, R$3.60) to get to Corumba

The Bus Terminal nd the Train station are just two blocks from each other and a cab to the border will charge Bs. 10 or if you are willing to wait for other passengers you can go for Bs. 5.

You can change money in town and there is at least one ATM close to the border.

There are several opportunities for accommodation in town but you might consider going to Puerto Suarez for the night.