The 27-year-old gave the ball away, which led to an equaliser from Fred for the Brazilians in the second half on a night when the Three Lions defeated the South American side for the first time in 23 years.
"I thought I played well overall but if you make a mistake like that it's going to be costly," ESPN quotes Cahill as saying. "[But] that's the nature of my position. Thankfully Frank [Lampard] scored so it didn't spoil the lads' night. It did spoil my night slightly though.
"It was out of character from myself, but I will learn from it and that's great. I showed character to bounce back from it and the team showed character to forget about it and carry on."
Cahill will return to Chelsea for a Premier League clash against Wigan Athletic this Saturday.