But Mladen Krstajic's men were beaten 1-0 in Graz, Austria, on Monday, with Mitrovic playing for 84 minutes.
Guillermo Maripan scored the winner two minutes from time, but earlier Serbia had strong claims for a penalty waved away when Mitrovic went down in the box under Erick Pulgar's challenge.
Serbia continue their tournament preparations with a friendly against Bolivia on Saturday.
Meanwhile, Slovakia took on Morocco in a friendly in Geneva, Switzerland, but Martin Dúbravka - who had impressed against the Netherlands last week - was an unused substitute as Jan Kozak's side lost 2-1.