More than 40 years ago, the four Machado brothers—Roger, Rigan, Carlos, and John—founded RCJ Machado Jiu-Jitsu to pass on the Brazilian martial-arts knowledge they acquired from the late jiu-jitsu master Carlos Gracie. Although the Machado brothers' legacy now spans TV and movie appearances, plus work with celebrities ranging from Chuck Norris to Usher, their school still takes new martial artists of all ages through the fundamentals and beyond. Some locations also include classes in kickboxing, MMA, and capoeira—a Brazilian blend of martial arts and dance.