The South African Football Association said Friday that Bafana Bafana would face the five-time World Cup winner and 2014 host in Sao Paulo on Sept. 7.
The game also will likely be the first in charge for South Africa's new coach, who is expected to be announced at the end of this month.
SAFA chief executive Robin Petersen says South Africa, which hosted the first World Cup in Africa in 2010, has been working to organize the game for six months.
Brazil beat Bafana Bafana 1-0 in the last game between the two countries, a Confederations Cup matchup in South Africa in 2009.
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