This work deals with esterification of palm fatty acids to produce biodiesel in a batch reactor, using homogeneous acid catalysts, evaluating the effect of the alcohol used, presence of water, type and concentration of catalysts. Methanesulfonic and sulfuric acid were the best catalysts. Reaction with methanol showed greater yields. It was showed very clearly that the presence of water in the reaction medium showed a negative effect in the reaction velocity. Kinetic parameters were estimated and molecular modeling was performed. Protonation of the carboxylic moiety of the fatty acid were defined as rate determinant step for the reaction.