Dave Narey celebrates a wonderful goal against Brazil at the 1982 World Cup
Scotland will play a friendly with Brazil at Arsenal's Emirates Stadium on Sunday 27 March.
The glamour match kicks off at 1400 GMT and comes at the end of a five-day training camp for the Scots at La Manga in Spain.
It will be the 10th meeting between the nations, with Brazil boasting seven wins, while there have been two draws.
Scotland last played the five-time World Cup winners in the curtain-raiser to the France 1998 tournament.
This is the first time that Scotland will have played in London since they beat England 1-0 in 1999 in the Euro qualification play-off.
"This game will not only capture the imagination of the Scotland support but also the squad, who will relish the prospect of testing their skills against one of the finest international teams in world football," said Scotland manager Craig Levein.
Collins scores against Brazil at France '98
"I believe the recent performances - and not simply the results - against the Faroe Islands and Northern Ireland have given the whole country a lot of encouragement for the second half of the Euro 2012 qualification campaign and beyond.
"The players have a confidence in the way forward and while I believe the most important aspect of the forthcoming international break is to further cultivate a Club Scotland culture within the squad, the opportunity to play Brazil was irresistible."
Brazil, managed by Mano Menezes, are preparing to defend their Copa America title in July and have lost their last two friendlies 1-0 to Argentina and France.