The Register of Selected Brazilian Locations is available, in 11/18/2011, on the Brazilian Institute of Geography and Statistics (IBGE) website. It provides names, political-administrative subordination (i.e. region, state, meso- or micro-region to which the location belongs), coordinates (latitudes and longitudes) and average heights of the centers of 21,304 locations such as municipalities, villages, rural settlements and indigenous villages, among others existing in 2010.
The Register of Selected Locations responds to a growing demand from society for geo-referenced information. It will be frequently updated and improved.
The database also provides precise coordinates (latitude and longitude) of all the 516 indigenous villages (i.e. houses or set of houses or huts which can hold at least 20 indigenous people) catalogued by Funai (Indigenous Protection Service) and of the 921 rural settlements (or agri-villages) existing in 2008, according to Incra (National Institute for Colonization and Agrarian Reform).
The database also includes information about 4,718 villages (or district centers, which are subdivisions of the municipalities), 7,086 small towns, 210 rural nuclei, 355 hamlets and 1,933 isolated urban areas.
All information can be accessed by name of location here.