Elsewhere, Galatasaray fielded both major January signings -- Wesley Sneijder and Didier Drogba -- in their home clash with Germans Schalke but were held to a disappointing 1-1 draw.
In other friendly action on Saturday, the Netherlands beat Japan 3-0 in Enschede with Robin van Persie, Wesley Sneijder and Klaas-Jan Huntelaar on target.
The young centre-back, making his first Champions League start, found himself unmarked from Wesley Sneijder's free-kick but he turned his effort wide from a few yards out.
Robinho had given Brazil the lead only for the Dutch to draw level through a Felipe Melo own goal before Wesley Sneijder's 68th-minute headed winner.
Two goals in three second-half minutes by Wesley Sneijder and Arjen Robben helped to see off a resolute Uruguay side and put the Netherlands into a World Cup final for the first time since 1978.
Wesley Sneijder's powerful 52nd-minute winner from just outside the box settled a fascinating Group E contest between two contrasting sides who opened up in the second half and were creating good chances right up to the final whistle.
Goran Pandev's 22nd-minute strike from long range failed to dip quickly enough to prevent it going over while Wesley Sneijder could only shoot harmlessly wide in the final minute of the half after a neat one-two with fellow attacker Milito.
But Jose Mourinho's men were down to 10-men just after the hour as midfielder Wesley Sneijder went for two bookable offences and Atalanta capitalized with an equalizer by substitute Simone Tiribocchi on 81 minutes.
But Galatasaray, boasting the likes of Didier Drogba and Wesley Sneijder, was soon level thanks to a stunning 25-yard drive from former Schalke player Hamit Altintop.
In Serie A, Sulley Muntari and Wesley Sneijder were on target as champions Inter Milan beat Catania 2-1 to stay top.
CNN: Real Madrid held goalless in Spain; Inter stay top in Serie A
Dutch international trio Klaas-Jan Huntelaar, who has been linked with Tottenham Hotspur, Rafael van der Vaart and Wesley Sneijder are all thought to be for sale to offset some of the massive spending.
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