In what was an even encounter, Brazil rode their luck late on but managed to triumph with a 3-2 penalties win at the Estadio Mineirao in Belo Horizonte.
"This was expected. We had expressed the feeling seven to eight months ago when we heard the draw, that we'd have trouble," said Scolari, according to Sky Sports News.
"It was a very balanced game, although we conceded a goal due to something that's not acceptable at this level. We had equal possession and attempts.
"Will it be we have people dying of heart attacks? It depends on your medical check-ups! It's a very emotional World Cup."
Brazil will now face either Colombia or Uruguay in the next round.