The Socceroos arrived in the southern city of Curitiba before transferring to another flight to Vitoria, where they will be based.
The Australians are in the tough Group B alongside World and European champions Spain, Chile, and the Netherlands, finalists four years ago in South Africa.
"We are the underdogs," midfielder Tommy Oar said. "It will be a good opportunity for the Australian team to surprise, so this is all very exciting.
"And being in the 'soccer country' is an extra motivation, of course."
The tournament kicks off on June 12 when Brazil play Croatia in Sao Paulo while Australia' first game is against Chile on June 13 in Cuiaba.