The World Cup winner made history when he came on as a substitute for Mogi Mirim as they drew 1-1 with XV de Piracicaba in a São Paulo State League match.
Rivaldo, 41, became the first father to play alongside his son.
Rivaldo returned for a second stint with Mogi Mirim in December last year having played for the club at the start of his career. He is also club president.
18-year-old Rivaldo Junior has a lot to live up to if he wants to follow in the footsteps of his famous father.
In a trophy-laden career, Rivaldo scooped the Ballon D’Or in 1999 in the middle of a five-year spell at Barcelona that saw him lift a UEFA Super Cup, two La Liga titles and the Copa del Rey.
He won the World Cup with Brazil in 2002 and added a Champions League crown the following year after joining Italian giants AC Milan.
