Brazil "self-marginalized itself for four years" under the former president, Lula said at the White House, without mentioning Bolsonaro by name.
His world, Lula said, had "started and ended with fake news in the morning, afternoon, at night," prompting Biden to laugh and interject, "sounds familiar."
Lula said the two leaders could also work together to combat inequality and climate change.
Lula's visit to the White House followed a meeting with Senator Bernie Sanders and other lawmakers from Biden's Democratic Party.
At the White House, Lula said the Amazon rainforest had been "invaded" under the previous administration, adding that he was committed to reaching zero deforestation by 2030.