The former Liverpool player was withdrawn at halftime in England's win over Malta last month and played seven minutes in the subsequent fixture against Slovakia.
11 managers have led England at World Cups, most recently Roy Hodgson in Brazil four years ago, meaning the current incumbent Gareth Southgate is set to become Number 12 when he takes charge of The Three Lions in Russian Federation next summer.
The close call energised a previously lethargic England and they went close again when a remarkable double block by Slovenia captain Bostjan Cesar denied Raheem Sterling.
The Derby Counter midfielder rifled in the victor four minutes after half-time in Tbilisi as Chris Coleman's side pulled to within a point of Group D leaders Serbia, who would qualify with a win in Austria later.
Harry Kane wins it in injury time!
England, Northern Ireland, the Republic of Ireland, Scotland and Wales are all in World Cup qualifying action over the next four nights with all those countries still harbouring hopes of reaching the finals in Russian Federation next summer. "They're giving everything they've got".
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Despite the unenthusiastic reaction to the performance, Kane says England should be proud of their achievement.
Hart's form has come under scrutiny during this qualifying campaign but Southgate has opted to keep faith with the West Ham stopper, rather than promote Jack Butland, Fraser Forster or Jordan Pickford.
"England have qualified for a World Cup and that's a big deal".
The game, which will also raise money for the Bobby Moore Fund, is the first time Brazil have played at Wembley since 2013.
Without the suspended Dele Alli, the Three Lions looked utterly bereft of ideas until skipper Kane converted Kyle Walker's late on to score his 14th goal in nine games for club and country.
It's hard, these games are hard and to have Harry doing that in he last minute is a big feeling.
However, the hosts struggled to create much against a well-organised Slovenian side.