The General Coordinator says the Selecao are now building for the future and that he and Dunga felt obliged to accept their offers to help five-time World Champions rebuild
Dunga, 50, has succeeded Luiz Felipe Scolari for what will be his second stint in charge of the national team after spending four years in the dugout between 2006 and 2010.
And former goalkeeper Gilmar says Dunga's arrival will kick-start Brazil’s post World Cup revival.
"We can now officially start our work,” Gilmar told a press conference. "We have started talking about the staff, but that won't be announced today.
"We are now talking about how important it is for the players to get that feeling in the pit of their stomachs around the time that national team call-ups are announced."
Gilmar, who was a team-mate of Dunga during Brazil’s 1994 World Cup success, also pledged his support for the new boss and added that both felt a duty to accept the jobs offered to them by CBF president Jose Maria Marin.
"I know Dunga very well, I know how he thinks and acts. We have very similar views. The national team is too important, so this wasn't an invitation to come back, it was a call-up," said Gilmar, who worked with the Selecao during World Cup 1998.
"You forget everything, financial matters, working matters... I was about to move abroad, my daughter is already there, but I've changed all my plans. You can't turn down an invitation like this. It was the same for Dunga."
Brazil head to the United States for two September friendlies for the next leg of their Gillette Brasil Global Tour and are now working towards next year's Copa America in Chile, which will offer Dunga's first round of competitive matches back in the job.