The Three Lions are set to face the 2014 World Cup hosts on Sunday June 2nd as part of the FA's 150th anniversary celebrations.
But delay to renovation work on Brazil's fabled Maracana Stadium had cast doubt over whether the fixture would be played.
Bernstein says the friendly is definitely on but says the venue is yet to be decided.
"The game is in Rio de Janeiro. We believe it should be in Maracana. But it will definitely go ahead, it will definitely be in Rio de Janeiro," he told Sky Sports.
"We'll see which stadium we end up playing in. But it's definitely going on."
England beat Brazil 2-1 in a friendly at Wembley Stadium last month and Bernstein added: "The events have been really good.
"We've got a whole series of fabulous events ahead. The Brazil match we had here was a really great occasion."