Winners of the past three World Championships, Brazil accounted for Germany 25-21 25-19 25-17 in their Pool B opener in Katowice, Poland on Monday.
Outside hitter Lucarelli top scored with 13 points for Brazil, who are aiming to become the first nation to win the tournament four times in a row.
Brazil's middle blocker Lucas had 12 points as the South American powerhouse made it 25 wins from their past 29 World Championship matches.
"It was important to start the tournament well. We put the pressure on the other side and we played consistently, [but] we need to improve some elements," said Brazil coach Bernardo Rezende.
"We won with competitive team with potential which can play better. But it’s just a first step in the very long tournament."
Finland and South Korea were also triumphant in Pool B.
Finland came from two sets down to overcome Cuba 3-2 in a thrilling encounter.
Ojansivu Olli-Pekka led the way with his 23 points inspiring Finland to an 18-25 21-25 27-25 25-23 15-12 victory.
As for South Korea, they claimed a 3-1 (24-26 26-24 25-21 25-18) win over Tunisia.
In Pool C, Bulgaria eased to a straight-sets victory against Mexico in their opening match.
Bulgaria were 25-16 25-17 25-21 winners.
Russia also recorded a routine win, downing Canada 3-0 (25-21 25-19 25-21).
Meanwhile, China survived a scare to beat Egypt 3-1 (25-20 25-20 23-25 33-31).