Hamilton will complete a display in the red and white McLaren that led Senna to the second of his three titles in 1990 at Interlagos on Saturday.
It is 30 years since Senna was killed at the San Marino Grand Prix.
“I never in a million years thought I would ever be able to drive Senna’s car here,” said seven-time world champion Hamilton. “When my manager told me about it, I jumped at the chance.
“Just thinking about driving that car here, I remember the races when it finally won here and took the checkered flag. It’s definitely going to be quite an emotional experience and I hope people are here to see it.
“The original hope was that it would be a surprise. I would wear an all white suit and his helmet and go out and ride the lap and it would just look like he was there, but somehow word got out. It is impossible to keep things quiet.”
Hamilton became an honorary citizen of Brazil in 2022. The 39-year-old won his first title here in 2008 and drove the race of his life in 2021 to fight back and beat Max Verstappen to win at Interlagos for third time.
He heads into this weekend’s race – the first of four closing rounds with Mercedes before his switch to Ferrari – sixth in the standings.