Fans held up cards before kick-off which together formed a huge St George’s Cross in the stands.
Seaman had been invited to Saturday’s friendly in a tribute to Terry Venables, alongside the likes of Paul Gascoigne and Alan Shearer.
The Wembley fixture was the first England match since former manager Venables passed away in November, aged 80, after a long illness.
Seaman, Gascoigne and Shearer were in the Venables team that reached the Euro ’96 semi-finals almost 28 years ago, losing to Germany on penalties.
The Football Association invited them to attend a commemoration ceremony in the Wembley Suite before the Brazil game and to watch the match from the Royal Box.
There were also plans to acknowledge the recent losses of Stan Bowles and Ron Baynham, as well as Brazil’s World Cup-winning player and coach Mario Zagallo. Both sets of players wore black armbands.
Venables was hailed as “the most technically gifted British coach” in history during the tributes when he passed away four months ago.
In his tribute to his former manager, Southgate said: “He was open minded, forward thinking, enjoyed life to the full and created a brilliant environment with England that allowed his players to flourish and have one of the most memorable tournaments in England history. A brilliant man, who made people feel special.”