The Argentina international lunged into the Brazilian during yesterday's 2-1 victory over the Blues in the FA Cup semi-final at Wembley, but referee Chris Foy only penalised Aguero with a free kick against his side.
While the Football Association could take retrospective action against the 24-year-old, Mancini has played down the severity of the challenge by claiming that it's part and parcel of the game.
"Usually Aguero takes a lot of kicks from the defenders," the Manchester Evening News quotes Mancini as saying.
"I don't know what he did. Sergio is a good guy. This can happen in football. The referee was there. We had six referees on the pitch."
Aguero could receive a three-match ban if the FA decide to take action.