The triple time world champion easily topped morning practice at the Autódromo José Carlos Pace by half a second but Rosberg responded to top in the afternoon session by four-tenths of a second.
When media asked about Friday practice, Hamilton admits that, Rosberg’s improved speed in recent races and expects a close fight with the last year winner.
The defending world champion has never won the Brazilian Grand Prix in his previous eight attempts.
“Generally no problems out there,” Hamilton said.
“I think it’s going to be close, that’s for sure. Nico’s driving really well so it’s going to be close.”
“I’m just focusing on the programme and trying to decide on the car. The set-up changes take quite a long time and I was stuck with a choice that I’d made from FP1 that probably wasn’t the right one
but we’ll make it for FP3 and it should be good.”
“Turn two has a big, big kerb. It used to be flat through there but now you have a lift. Turn eight has a big kerb now, we used to just run over the whole of it and now you can’t.
“Those two corners on their own make a big difference. Before you could abuse the kerbs a little bit too much whereas now you go round them.”