The flame was flown inside a small lantern on a special flight from the Swiss city of Geneva to Brasilia.
Brazil’s President Dilma Rousseff lit the Olympic torch which will be carried around Brazil by 12,000 runners.
It could be one of Dilma Rousseff’s last public acts ahead of a possible impeachment trial.
The Senate is expected to vote next week on whether proceedings against the president should go ahead.
If a simple majority votes in favor, Dilma Rousseff will be suspended from office for up to 180 days and Vice-President Michel Temer will take over.
Dilma Rousseff is accused of manipulating government accounts ahead of her re-election in 2014.
The Olympic torch will pass through more than 300 towns and cities from the Amazon to Brazil’s southern border, arriving at the Maracana Stadium in Rio on August 5.
Among the first torchbearers will be a Syrian refugee who now lives in Brazil.
The first torchbearer was Fabiana Claudino, who led Brazil to Olympic gold medals in women’s volleyball in the 2008 and 2012 games, and is team captain this time.
Brazilian mathematician Artur Avila Cordeiro de Melo ran the second leg.
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