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Brazil have never lost to Venezuela in a competitive fixture and have only once before, in 2009, failed to beat the Vinotinto in World Cup qualifying, but they were left frustrated after Bello's brilliant late leveller.
Brazil took the lead when Neymar had a shot pushed wide in the 49th minute and from the resulting corner, taken by the striker, Arsenal defender Gabriel rose at the near post to angle home a fine header.
The goal forced Venezuela into a more adventurous approach and Wilker Angel flashed a header just wide from a 62nd-minute corner. Rodrygo then found himself in a great position in the box but the Real Madrid winger blasted his shot into the side netting.
With five minutes left, the home crowd in Cuiaba were left stunned when Jefferson Savarino whipped in a cross and Bello lept acrobatically to blast a spectacular overhead kick past Ederson.
