The use of cartography in geographical approaches, notably in those focused on territorial discussions, is gaining more and more importance. However, the use of technical maps still prevails, which often act to hinder its use and appropriation by traditional communities. Based on this assumption, this article seeks to show that, in addition to technical cartography, there are other methodologies, which should also be used, in both elaboration and representation of territories, such as the participatory mapping. For that, some recommendations and suggestions are presented in this paper, aiming to subsidize the application and the collaboration of maps, through the mentioned methodology. These suggestions and contributions are the result of both theoretical debates and in loci observations, in workshops held in traditional communities of Brazilian Amazonia. From these discussions, it is concluded that the adoption of participatory mapping in the process of valuing and understanding the knowledge of traditional communities is of great value, in addition to serving as a subsidy for the claims of rights of both appropriation and possession of the territory.