There were no reports of violence during the demonstrations, which were staged by pro-government labor unions and social activists.
One of the main avenues in Brazil's largest city of Sao Paulo was blocked by at least 12,000 people who defied bad weather to take part in the rally.
The event saw followers of the Communist Party of Brazil,which is part of Rousseff's parliamentary coalition, hold banners reading "Dilma stays."
During the Friday rally, the labor unions signaled their support for Rousseff, but urged the withdrawal of her steps to minimize unemployment and pension benefits, which are part of the government's austerity plan.
Rousseff’s popularity ratings have already sunk to record lows, with just 23 percent of respondents assessing her performance as "excellent or good," according to a survey released by the pollster Datafolha last month.
