This is their first match (2004):
Jacare had a hard time trying to pass his guard...but he eventually landed the triangle. Estima defended well so Jacare went for the armbar instead. Sorry for the spoiler. It is a good match to watch regardless.
Now, the rematch is set for ADCC 2011 in Nottingham. Jacare has been training MMA and Estima has gotten better. Estima just might be able to get revenge. We will see in September.