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Castelo is located in the Brazilian state of Espírito Santo. It is a municipality in the southeastern region of the state, approximately 120 kilometers from the capital, Vitória. Castelo is known for its natural beauty, including the Pedra Azul State Park, which features a large granite rock formation. The municipality is also home to several historical landmarks, such as the Igreja Matriz de São João Batista, a 19th-century church.