Born on November 9, 1939, in Palma, Minas Gerais. He moved to Rio de Janeiro in 1953, where he met and became a student and friend of Grandmaster Hélio Gracie. Since then, he has contributed to the development of Jiu-Jitsu in Brazil and around the world.

During the 1960s, he began researching the history of Jiu-Jitsu and gathered a small group of people interested in organizing the sport, creating the first Jiu-Jitsu Federation of the State of Guanabara in 1963, which became the Jiu-Jitsu Federation of Rio de Janeiro in 1967. He is the main author of the first book of regulations and standards that govern the sport to this day.

Grandmaster Mansor, along with Carlos Couto and Grandmaster Robson Gracie, created the CBJJ in 1993, from which the IBJJF later emerged.

He lived in the United States from 1999 to 2019, where he also worked as a Police Consultant (NYPD) and lectured at universities and the Armed Forces. There, he achieved status, recognition, and many titles, including inductions into the American and European Halls of Fame, as well as the title of Knight of Spain.