The agreements were signed at the Planalto Palace, after a bilateral meeting between Lula da Silva and João Lourenço, who has been in Brasília since Thursday, on a three-day state visit.
The two countries signed a total of four memorandums of understanding.
The first concerns the promotion and defense of the rights of people with disabilities, people affected by leprosy and children and adolescents.
Another agreement, signed between the Brazilian Federal Police and the Angolan National Police, aims to combat organized and transnational crime, drug trafficking, terrorism, human trafficking, illegal migration, illegal firearms trafficking, money laundering, document forgery and cybercrime.
In the agricultural area, Brazil and Angola signed a memorandum to strengthen family farming in southern Angola.
Finally, an agreement was signed between the state-owned oil giants Petrobras and Sonangol to develop cooperation in the areas of renewable energy, oil, gas, technology and training.
The Brazilian President received his Angolan counterpart on the second day of João Lourenço's visit to Brazil.
João Lourenço and his wife, Ana Dias Lourenço, arrived at the Planalto Palace, in Brasília, at 10 am (2 pm in Luanda), and were received by Luiz Inácio Lula da Silva and his wife, Janja.
At the Planalto Palace, the two leaders held a bilateral meeting, which was preceded by a memorandum signing ceremony and a joint statement to the press.
This was followed by lunch at the Itamaraty Palace, headquarters of the Ministry of Foreign Affairs, and a meeting with representatives of rural producers.