"This is one of the biggest trophies of my career," the 38-year-old -- full name Ronaldinho de Assis Moreira -- told reporters as he was hailed by dozens of tourists visiting the stadium built to host the 1950 World Cup final match.
His footprints will now be displayed alongside those of other Brazilian greats such as Pele and Zico.
Ronaldinho first received an invitation to leave his prints in 2011, but put it off because of his busy agenda, he said.
Since then, he said he has had "a very active life", though he still misses his sporting days.
Discovered in the southern Brazilian city of Porto Alegre, where he was born, Ronaldinho also spent time with Paris Saint-Germain, AC Milan, and at Brazilian teams Flamengo, Atletico Mineiro and Fluminense, as well as a year with Mexico's Queretaro.
He did not respond to reporters' questions about the confiscation of his passport late last year over an unpaid $2.3 million fine for damaging the environment while having a property built on a lake in a conservation area.
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