Located in Mato Grosso, the northern Pantanal is accessed via the state capital of Cuiabá [1]. Although Cuiabá is some distance from the Pantanal proper, two paved highways lead to the settlements of Poconé [2], Porto Jofre [2], and Cáceres [3] on the edge of the wetlands.
From here, you can get a quick taste of the Pantanal [4] or venture by boat into its depths.
Links:
[1] http://www.moon.com/destinations/brazil/brasilia-and-the-pantanal/the-pantanal/mato-grosso/cuiaba
[2] http://www.moon.com/destinations/brazil/brasilia-and-the-pantanal/the-pantanal/mato-grosso/pocone-and-porto-jofre
[3] http://www.moon.com/destinations/brazil/brasilia-and-the-pantanal/the-pantanal/mato-grosso/caceres
[4] http://www.moon.com/destinations/brazil/brasilia-and-the-pantanal/the-pantanal