The COVID-19 pandemic had profound impacts on Brazilian society, but little attention was paid to the socio-environmental determination of the health of peripheral populations. This project arises in this context, with the proposal to identify challenges and potential in confronting the pandemic and its consequences in three peripheral and vulnerable territories in Rio de Janeiro. The Inova-TSS notice was the opportunity to develop research that, simultaneously to generating data, would contribute to empowering these territories to better deal with this challenge, thus contributing to making them more sustainable and healthier. Supported by Popular Education and other dialogical perspectives, this is a qualitative study that combined research, training, extension and quantitative research strategies, and was developed in partnership with five social movements, since its genesis. At the suggestion of these organizations, the research was linked to an action of the popular campaign ‘Periferia Viva’, a course for Popular Health Agents offered in the same territories as the research, where these organizations were already operating. This experience report aims to share challenges and strengths of the constitutive process of this investigation, which integrated activists, health professionals, and residents of benefiting communities as popular researchers, recognizing their condition as subjects in knowledge production.