But the AC Milan midfielder complained afterwards: "It was a very difficult match with some heavy fouls from the English team."
Kaka also insisted his side deserved the draw and that they could even have beaten an England side desperate to give beleaguered manager Steve McClaren a boost.
"A defeat in this match would have not have been fair because of how we played," he added.
"Also, the referee (Markus Merk) disallowed a good goal scored by Gilberto Silva and that could have given us the victory."
Fellow midfielder Edmilson agreed with Kaka.
"Brazil did not deserve a defeat here," he said. "We always tried to score a goal."
Edmilson's Barcelona team-mate Ronaldinho - who like Kaka has asked to be left out of the upcoming Copa America in Venezuela - felt the performance showed how much progress Brazil have made under coach Dunga.
"Every game, I feel we're improving more and more," he said.
"I'm very happy because things are going well, but now it's time to focus my mind on the upcoming season."
"It was one of the most important goals of my career," he said. "This is my first time, but I know scoring for the national team will always be wonderful."
After such a physical clash Dunga plans some changes for Brazil's second friendly of their tour, against Turkey on Tuesday in Dortmund.
"We'll look at the players' condition after some down-time to see what we need to do," he said.