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On June 21, 1982, he was appointed auxiliary bishop of São Sebastião do Rio de Janeiro and titular bishop of Sita.
Cardinals José María Martín de Herrera y de la Iglesia, Giuseppe Prisco and Lev Skrbenský z Hříště did not attend for reasons of health, whilst the four non-European cardinals – William Henry O'Connell of Boston, Denis Dougherty of Philadelphia, Louis-Nazaire Bégin of Québec City and Joaquim Arcoverde de Albuquerque Cavalcanti of São Sebastião do Rio de Janeiro – did not arrive in time and missed the conclave.
Lara Barbosa received his episcopal consecration on the following August 2 from Eusébio Oscar Scheid, archbishop of São Sebastião do Rio de Janeiro, with the bishop of São José dos Campos, José Nelson Westrupp, and the auxiliary bishop of Brasília, Raymundo Damasceno Assis, serving as co-consecrators.