By Paulo Trevisani 

BRASILIA--Vice President Joe Biden said Tuesday he is confident Brazil and the U.S. can restore good relations after allegations last year the U.S. had spied on its southern ally.

Mr. Biden arrived at Brazil's presidential palace in the morning for a meeting with President Dilma Rousseff, after attending the U.S.-Ghana World Cup match in the northern Brazilian city of Natal on Monday night.

He is also expected to meet with Brazilian Vice President Michel Temer during his visit.

Brazil-U.S. relations where shaken last year after former National Security Agency contractor Edward Snowden leaked documents indicating the NSA was spying on Brazilian citizens and companies, including President Rousseff and oil-giant Petroleo Brasileiro SA, or Petrobras.

Mr. Biden spoke briefly to reporters upon arriving at the palace, noting the U.S. team won the match against Ghana.

In response to a question shouted to him about whether the two countries' relations could be restored, he responded "I'm confident they can."

Ms. Rousseff last year canceled a state visit to Washington, D.C. scheduled for October, amid concern the spying allegations would take over the agenda if she went.

Mr. Biden's meetings with Ms. Rousseff and with Mr. Temer both will be closed to the press, but the U.S. vice president will make a statement to reporters after the meeting, one of his aides said.

Write to Paulo Trevisani at paulo.trevisani@wsj.com

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