Cafu was an outspoken critic of the team during the World Cup and was barred from entering the dressing rooms after the hosts` 1-7 semifinal defeat to Germany in Belo Horizonte.
“I am always willing to help the national team,” Cafu told Radio Brasil Thursday.
“If the opportunity comes, great. I will look at it. If it doesn`t, I will continue hoping that the team does well.”
Cafu said he held no grudge against Brazil`s football confederation president Jose Maria Marin, who reportedly ordered Cafu`s dressing-room snub.
“Now is the time to implement a long-term plan,” the former Roma and Milan defender said.
“European football has evolved a lot. It`s a good thing that Brazil now has to try to innovate too. It is nothing to be ashamed of.”
Dunga was appointed Brazil`s manager for a second time Tuesday.
The 1994 World Cup-winning captain replaced Luiz Felipe Scolari, who resigned after the team`s failure to reach the World Cup final as hosts and pre-tournament favourites.
Dunga named Andrey Lopes as his assistant and 1994 World Cup-winning teammate Taffarel as goalkeeping coach.
A second assistant role, to be initially filled by former Brazil midfielder Mauro Silva, will be rotated among former Selecao players.