I never would have found this place without my Venezuelan friends but they swore that it was the most authentic Venezuelan food around... and they would certainly know.
I now love Chicha although it will kill any diet plan you may have since its full of sweet condensed milk, rice and cinnamon. Definitely more of a dessert than a drink! Naturally the arepas (closest equivalence to a hamburger) are phenomenal (making My Arepa's name very appropriate). Since My Arepa popped my Venezuelan cuisine cherry, my native friends ordered just about everything on the menu so I could sample it all. I have to admit that everything dangerously good! Especially the arepas, empanadas, chicha and flan.
It must be authentic... no true/typical customer service...the waitstaff yelling across the tiny restaurant and my table shouting out orders and questions back into the kitchen... not your typical waiter/waitee relationship :) But I wouldn't have wanted it any other way!
Make sure you know some Spanish, have Spanish speaking friends, or are just willing to point on the menu and hope for the best. No matter what your finger lands on, you'll be happy!