Striker Andrew Gordon scored his second goal in as many games in the 44th minute to give Canada the lead, but the Ticos equalized in the 72nd on a Randall Leal penalty kick.
Canada head coach Sean Fleming was pleased with the way his players endured some difficult conditions during a wet and rainy match to deliver a mature performance.
"We were solid in all aspects of our game," said Fleming. "I thought our players dealt well with some heavy-rain conditions and showed great composure throughout the full 90 minutes.
"We managed to maintain our focus and applied our game model. There were also a number of encouraging personal performances."
Edson Soto was impressed with Canada, but was also pleased with his own team's ability to bounce back after falling behind.
"Canada was very strong and powerful, but we knew the margin by which our team is growing, is becoming more mature and after we gave up the goal, we continued to fight to level the score," the 35-year-old commented.
Canada and Costa Rica are preparing for the 2013 CONCACAF Under-17 Championship, which will take place April 6-19 in Panama.