Brazil missed a string of chances and were left to rue a lack of quality in the final third after they were held 0-0 by Costa Rica.
The Copa America 2021 championship final will be played between Brazil and Argentina from 05:30 am IST Sunday in Rio de Janeiro, Brazil.
Brazil, who are fifth in the CONMEBOL table with 18 points from 12 games, host Colombia on March 21 and visit Argentina five days later in a match that could see Neymar come up against former Barcelona and Paris St Germain teammate Lionel Messi.
Defending champions Brazil beat Ecuador 1-0 to complete the quarter-final line-up at the Copa America.
Next year's Copa America in Chile will give Brazil the chance to bury the ghosts of their miserable World Cup, the president of the country's soccer federation said.
Gabriel got the winning kick for Brazil after Gustavo Gomez and Derlis Gonzalez missed for the visitors. Roberto Firmino pulled his spot kick wide for the hosts.
Philippe Coutinho grabbed a hat-trick as Brazil ramped up their Copa America campaign with a resounding 7-1 win over a hapless Haiti on Wednesday. Renato Augusto scored a brace and substitutes Lucas Lima and Gabriel also goaled for Brazi, while James Marcelin put in Haiti's consolation goal. The scoreline -- identical to Brazil's nightmare 7-1 defeat by Germany in the World Cup semi-final two years ago -- takes Brazil to the top of Group B with four points, ahead of the evening's second game between Peru and Ecuador. Coutinho got Brazil off to a positive start in the Camping World stadium with a goal after 14 minutes when he skipped past a defender and hammered home from 20 metres out. He doubled Brazil's lead 15 minutes later thanks to Jonas, who was on hand to poke a loose ball across goal and leave the Liverpool player with the simplest of tap-ins.
Defending champions Brazil reached the Copa America final on Tuesday, beating a feisty Uruguay on penalties after twice surrendering the lead in a 2-2 draw.
Defending champions Brazil were held 0-0 by Venezuela in their opening Copa America Group B match on Sunday after being denied a possible penalty and seeing Alexandre Pato hit the bar.
The Barcelona striker has won the FIFA World Player of the Year a record six times and is widely considered one of the greatest players ever to play the game, alongside Pele and countryman Diego Maradona. But his inability to win an international title with Argentina always left an asterisk beside his name on the all-time greats list.
Captain Casemiro said Brazil fully deserved the three points.
Copa America kicks off in Chile on Thursday as a widening US-led investigation lifts the lid on rampant corruption among the sport's top officials.
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