The Three Lions got a taste of what life will be like at the World Cup this week, experiencing the famous landmarks of Rio, training on Copacabana beach and then playing the hosts in the world famous Maracana Stadium.
Chamberlain came off the bench to grab England's equaliser against the five-time World Cup winners, with Wayne Rooney later putting them ahead only for Paulinho to bring Brazil level with eight minutes remaining.
Despite taking great satisfaction from the performance, England know there is plenty of work to be done if they are to qualify for next year's tournament.
Roy Hodgson's men currently sit second in Group H, two points behind leaders Montenegro with four games remaining.
Chamberlain says the squad is even more determined to secure a return back to Brazil after their experiences over the past few days.
"It's a great football nation and to be around it really does open your eyes to what a great tournament next year's World Cup could be," said the 19-year-old.
"To see the passion the fans have and how much people love football over here only drives us on to make sure we want to come back here next year."