The duo will now be a part of the squad that will meet Colombia in Miami on September 5 before heading to New Jersey to face Ecuador on September 9.
The games mark the first since the return of coach Dunga, who succeeded Luiz Felipe Scolari following Brazil’s World Cup semi-final exit to Germany.
30-year-old Robinho was part of Scolari’s squad for the Gillette Brasil Global Tour clashes with Honduras and Chile last November, but missed March’s game with South Africa and ultimately lost out on a place at the World Cup.
The on-loan Santos star was one of the Selecao’s most consistent performers during Dunga’s first spell in charge, netting 21 goals in 53 appearances.
Real Madrid left-back Marcelo was a regular under Scolari and started six of Brazil’s seven World Cup matches.