Such groups were armed chiefly for self-protection from the Right-wing dictatorship that unleashed state terrorism against any who opposed their regime, including students, the clergy, and the children of those who called for democracy.

The kidnappings by a few armed groups were conducted to free comrades suffering extremely brutal torture in Brazil's prisons.

The theft of the armaments was organized and carried out by him and by Sergeant Darcy Rodrigues, who supposedly convinced Lamarca to join VPR.

He participated in several operations, such as bank robberies and a guerrilla warfare camp in the extreme south of the state of São Paulo.

On May 10, 1970, he participated in the assassination of Military Police officer Alberto Mendes Júnior, who surrendered to Lamarca's group in order to prevent the death of two of his fellow soldiers, who were severely injured and needed medical assistance.

After several years and open opposition from the mass media, Lamarca's family successfully obtained indemnification for his death from the Amnesty Commission of the Ministry of Justice.

The city also paid a tribute to Lamarca by creating a law which added September 17, the day of his death, to the list of local holidays.