The word "á" doesn't exist and "à" is a contraction of the words "a" feminine article and "a" preposition and "ao" is the masculine form.
The "a" preposition is usually used when you want to arrive in a place, for example "I want to go to the beach" is "Eu quero ir à praia" and "
I'm two steps away from being there." "Estou a dois passos de estar lá".
As Brazil is a masculine noun, you use "Bem-Vindo ao Brasil.", if it was Argentina (feminine noun) for example, you would use "Bem-Vindo à Argentina", if it was Portugal (neutral noun), you would use "Bem-Vindo a Portugal", and if the United States (plural masculine noun), you would use "Bem-Vindo aos Estados Unidos"
Hope I've helped.