Copaiba was founded in 1999 by a group of friends who, realizing the degradation of the Atlantic Forest in the municipality of Socorro-SP, decided to act and work with the restoration of riparian forests, initially, on the Rio do Peixe. The group's first action was modest: planting 80 seedlings in an area on the banks of the Rio do Peixe in Socorro. The labor was under the responsibility of volunteers.

The idea of restoring the Atlantic Forest in the region gained the support of new volunteers and other organizations. Over time, the work of the NGO took shape and developed members from several integrated actions in the environmental area, from ecological restoration projects and programs to the production of native seedlings, awareness initiatives and participation in public environmental policies.