Where exactly was this show filmed?

I am enjoying this show on Saturday mornings on the Heroes and Icons (H&I) channel. Very well filmed, good acting, wonderful guest stars (including The Supremes, playing nuns!), interesting footage of wildlife. Where exactly was this show filmed? In Mexico? Where in Mexico? I am mostly wondering where the village (obviously a set), the large waterfall (Victoria Falls in Africa? Iguazu Falls in South America?) in the opening credits, and the huge cascades (evident during most episodes, small streams flowing down a large rock formation) are located.