The 34-year-old moved back to his native country following his release from Italian giants Juventus.
“The history of Sao Paulo is a winning one and the club has a great professionalism. I have always heard good things in conversations with friends, both in the clubs and the Brazilian national team," Lucio told the club’s official website.
"The professionals who have been here have always spoken highly. Without any doubt it is a club that has all these qualities. This was one of the reasons that made me choose Sao Paulo.”
The 2002 World Cup winner made the switch after failing to win a regular starting berth with the Bianconeri and struggling to recapture his form from his Inter days.
The Soberano came close to capturing Lucio’s signature earlier this summer however the move fell through.
And the central defender believes that he will now adjust quickly, as he already knows many players in the squad.
“This will be very important for me to adapt. I have never had any trouble with groups throughout my career, I usually adjusted quickly.
"My eagerness and expectation to play, train and return to Brazilian pitches also motivates me and will help me greatly,” said the former Brazil captain.