Goals from Clint Dempsey and Landon Donavon put Team USA into a surprising half-time lead against the five time World Cup winning nation.
But a Luis Fabiano double either side of a wrongly disallowed goal for Kaka pulled the Brazilians level before Lucio headed in the winner five minutes from time.
The result comes after the Americans knocked out FIFA number one ranked team Spain in the semi finals, a defeat that prevented the European Champions from bettering the Brazilians' all-time record of 36 unbeaten matches.
Elsewhere on Sunday, Mexico played out a goalless draw in a friendly against Guatemala in San Diego.Both Mexico and the United States will now be looking towards a busy summer with the CONCACAF Gold Cup beginning on July 3, while the nations face each other in a World Cup qualifier on August 12.
The Gold Cup runs from July 3 to 26 and involves teams from across North and Central America as well as the Caribbean with the four time champions Team USA favorites to win the tournament.
The U.S. will kick off their tournament on Saturday, July 4 when they play Grenada at Seattle's Qwest Field at 6 p.m. PDT. Mexico will begin the following day against Nicaragua at San Francisco's Oakland-Alameda County Coliseum at 4 p.m. PDT.
But just two weeks after the final of the regional tournament both the United States and Mexico will be in action again when they play each other in a World Cup qualifier.
Team USA need to win the game at Estadio Azteca in order to consolidate their position in second in the CONCACAF FIFA World Cup qualifying group and attempt to overtake Costa Rica in top spot.
In their five games so far the Americans have managed 10 points with three wins and a draw. They have the best attack in the group having scored 10 goals and a defence second only to Costa Rica, who have conceded one less than the Americans' six.
Their opponents Mexico, however, are in desperate need of a win as they try to recuperate from a less than optimistic start in the group. Although they have had two wins out of two at home so far, El Tri have not managed a single point in their three matches on the road.
They are currently lying in fourth place in the group and a point behind Honduras, who are occupying the final automatic qualifying position.
Should Mexico remain in fourth position, they would face a play-off against the fifth placed team in the South American group, which looks like being one of Argentina, Ecuador, Uruguay, Colombia or Venezuela, who the Mexicans defeated 4-0 last week.
But El Salvador are hot on Mexico's coat tales just one point behind them in the group, and having recently defeated Javier Aguirre's men will be confident of overhauling them in the standings by the conclusion of the group on October 14.
To the Mexican and U.S. supporters it is more than simply a qualifier; it will be a battle for bragging rights against their nation's fierce neighboring rivals.
But the favorites for the clash will be the away side. The team from the north side of the border are in great form after recently defeating European Champions Spain in the Confederations Cup semi-final and pushing Brazil all the way in Sunday's final.
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