Brina is fought alongside with Calca in a scripted battle on-board of the Falcon upon reaching the Overworld in Rydia's Chapter.
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The battle is scripted but it can still be lost, also Rydia will be unable to act. Calca will cast Lightning, Blaze, and Tsunami at the player, while Brina casts Heal and occasionally attacks.
Since both Calca and Brina have low HP, a few attacks from Luca should be enough.