He arrived Friday to hold talks with Brazil's far-right president-elect Jair Bolsonaro, who is to be sworn-in in a ceremony in Brasilia on Tuesday, with Netanyahu among the foreign dignitaries attending.
Bolsonaro, 63, rode a populist revolt against the traditional political class to take the presidency.
While investors hope Bolsonaro's free-market stance will reinvigorate Brazil's economy - the eighth largest in the world - environmentalists and rights groups are anxious he will roll back protections for the Amazon rain forest and loosen gun controls in a country that already has the world's highest number of murders.
Israeli officials worry that the planned withdrawal of USA personnel will create a vacuum, enabling Iran to increase its presence in Syria, where it is supporting President Bashar al-Assad in ending the country's civil war.
In July of this year, Bolsonaro appeared to have gotten cold feet after Egypt, citing "scheduling issues", cancelled the Brazilian leaders November trip to Cairo to meet with President Abdel Fattah el-Sisi.
"I do not intend to resign", the prime minister said at a press conference in Brazil aired by i24 News.
With Bolsonaro's inauguration, Latin America's two biggest economies are now in the hands of anti-establishment populists.
But previous comments he has made endorsing the use of torture and disparaging women, gay people and Afro-Brazilians have left many Brazilians anxious. Centrist parties were trounced, reshaping Brazil's political landscape and polarising Congress.
But many citizens blame the Workers' Party for a devastating recession from which Brazil is only now emerging. She said Bolsonaro represented a historic moment for her country - a moment she couldn't miss.
Netanyahu will attend Bolsonaro's inauguration ceremony on January 1.
The decision is part of one of Mr Bolsonaro's key election promises - that he would deny new land claims by Indigenous tribes and that he wants to open their land to commercial mining and farming.
"I can tell you that I meet with many Arab leaders", he said.
His past remarks made it clear he was referring to policies implemented by the Workers Party, which governed between 2003 and 2016 but ended up reviled for a string of corruption scandals.
Bolsonaro did little moderating since being elected in October, with progressives and liberals decrying stances that they say are homophobic, sexist and racist.
An estimated half-million spectators were expected to cheer Bolsonaro in Brasilia.
Before becoming a politician, Mr Bolsonaro served in Brazil's military, where he was a paratrooper and rose to the rank of captain.
In his first public comments on President Trump's decision to pull the ground troops, Pompeo said it "in no way changes anything that this administration is working on alongside Israel".