It was the third victory for Brazil after its victory in 1997 and 2005. That enabled Brazil to surpass the record of two Confederations Cup champion titles shared by France and itself.
For the US, it was also a historic mark as it was the first time for the country to sail into a world final.
Brazil dominated the game, but trailed the United States until the final minutes of the game because of two early U.S. goals - the first by Clint Dempsey in the 10th minute and the second by Landon Donovan in the 37th.
But the Brazilians came out strongly in the second half and equalized with two goals by Luis Fabiano in the 46th and 74th minutes of the game.
With only six minutes left in regulation time, Lucio headed a corner kick into the goal and Brazil took the lead.