Even before Embraer was established, the team at the then-Technical Center for Aeronautics (CTA) developed aircraft prototypes, envisioning the possibility of serial production within the country. In addition to the Bandeirante and the Ipanema—which became vital parts of Embraer’s portfolio—the Urupema glider originated at the CTA, with its design process beginning in 1963.

The Urupema was designed to serve as a Brazilian entry for use by the country's flying clubs in world gliding championships. Construction of the prototype began in 1965 in the workshops of the CVV-CTA (Gliding Club – Technical Center for Aeronautics).

An elegant, slender aircraft measuring 7.50 meters in length with a 15-meter wingspan, the Urupema was a high-performance glider capable of reaching a top speed of 258 km/h. Its wing featured a sandwich construction of wood and epoxy-resin-impregnated paper honeycomb. Its maiden flight took place in January 1968, and type certification was granted by the CTA on December 15, 1971.

In 1969, the three CTA projects—Bandeirante, Ipanema, and Urupema—were transferred to the newly created Embraer. The EMB 400 Urupema was the first product to roll off the production line and be delivered. Between 1971 and 1972, the Ministry of Aeronautics received 10 Urupemas—ordered through the Department of Civil Aviation (DAC)—and distributed them to Brazilian flying clubs.