The South Americans stormed into a 2-0 lead thanks to goals from Fred and Oscar, but Italy responded in the second period as Daniele De Rossi and Mario Balotelli brought them level by the hour mark.
Scolari, quoted on the Brazilian federation website www.cbf.com.br, said: "We faced an Italy team that has been playing together for three years and, of course, had the advantage of unity. Still, we managed to impose ourselves for part of the match and showed some good football.
"The most important thing is that the game served as a useful test, we had to face a very skilled opponent."
Italy coach Cesare Prandelli was pleased with the character shown by his side in coming back from a two-goal deficit.
"We played a great game," he told vivoazzurro.it.
"After 30 minutes we conceded two goals and the game seemed to have been closed out, however we were good (enough to come back)."
Prandelli also hailed the "personality and technical qualities" of debutants Alessio Cerci and Mattia De Sciglio, and said of striker Balotelli: "He created a number of chances, he was very good in attack."
AC Milan defender De Sciglio was pleased with his bow, and felt he had acquitted himself well in his duel with Brazil's Dani Alves.
"I try to give my best and to make things easier for the team, this is a wonderful group and I will try to be there as long as possible," he said.
"We are a great team and we showed that last night. Dani Alves is a great champion, it is difficult to mark him. I think I did well in defence, in attack I only came forward a few times to cross but we were trying not to lose the ball."
Prandelli was conscious of managing his resources well, with Tuesday's World Cup qualifier away to Malta coming up. For Scolari, their next friendly is against Russia in London on Monday.