Highly-rated Endrick scored his first goal for Brazil, who secured a 1-0 victory over England at Wembley Stadium on Saturday night.
The home side were without all-time leading scorer Harry Kane through injury, as Ollie Watkins was given a start alongside debutant Anthony Gordon.
Brazil should have been ahead on 12 minutes when Lucas Paqueta sent Vinicius Junior through on goal but while the forward's shot did beat Jordan Pickford, Kyle Walker got back in time to stop the ball from going in.
Gareth Southgate's men did enjoy more of the ball as the first went on, but they struggled to carve out any clear-cut chances to trouble Brazil goalkeeper Bento.
At the other end, Brazil went even closer to bagging the opening goal when Rodrygo pulled the back for Paqueta who saw his firs-time effort crash against the post with Pickford well beaten.
England did go close ten minutes after the halftime break when Phil Foden's free-kick into the box found Gordon, who saw his effort palmed away by Bento before the defence managed to clear.
Southgate opted for a changes for the final 20 minutes as Joe Gomez, Lewis Dunk and Jarrod Bowen were introduced for Ben Chilwell, Harry Maguire and Jude Bellingham.
The deadlock was broken with 12 minutes to play when Endrick got his first goal in senior football by tapping into an empty net after Pickford could only parry Vinicius' strike.
England will now turn their attention to Tuesday's clash against Belgium, while Brazil take on Spain on the same day.
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