The Iranian outfit defeated Guatemala 10-4 in the third-fourth match and came third.
Iran had already defeated Guatemala 7-2 and Cost Rica 5-1 in preliminary round and lost to Colombia 4-3 in the semifinals.
Host Brazil will play Colombia in the final match.
The Brazilian Futsal Confederation has organized the FIFA-recognized Grand Prix, one of the world's major tournaments for the sport, every year since 2005. Brazil won seven of the eight editions held so far, losing only once to Spain in 2010.