San Rafael de Velasco is a town in the eastern Bolivia, Santa Cruz department.
San Rafael is best known as one of the Jesuit Missions of the Chiquitos, a UNESCO World Heritage site.
There is one or two buses going daily from San Ignacio to San José through San Rafael. There is also a bus from San Ignacio that goes to San Rafael through Santa Ana.
You can visit San Rafael by taxi on a day trip from San Ignacio.
San Rafael is small enough to walk on foot.
Continue to the missions of Santa Ana or San José. For San José, you can jump in the buses that leave from San Ignacio and go to San José. For Santa Ana, the taxi option may be the only possible.