Pirlo is expected to start for Italy in the friendly.
"Games against Brazil are never normal," he said. "It could be fundamental for our growth as a team.
"It may tell us a lot about what we can achieve in the Confederations Cup this summer and the World Cup in 2014.
"Italy often don't play great in friendlies, but we'll look to do well, to give our best, also for our supporters.
"This Italy team is getting better and we are one of the top 10 sides in the world."