Samba de Roda do Recôncavo Baiano was Brazil’s first music and dance practice to enter UNESCO’s list of Intangible Cultural Heritage. It represents one of various music practices in which Afro-diasporic cultures have been able to find and further develop a common heritage of ancestral bonds, while undergoing processes of cultural maintenance very different from European ones. Yet, aspects of music practices that escape Eurocentric modes of perception shaped by Western musical norms tend to be disregarded. This contributes to their invisibility in Heritage research and safeguarding. This article seeks to highlight the African Ancestry of Afro-diasporic musical heritage by unveiling intangible dimensions of Samba de Roda that correspond to African cosmoperceptions.