They are the first defendants to go on trial since seven soccer officials were arrested at Baur au Lac hotel in Zurich in May 2015, exposing what investigators say was a quarter of a century of corruption.
Edelman said the USA government would present evidence, derived from witness testimony, bank records, covert recordings and other documentation that proves each of the officials had received bribes.
As the defendants looked on, Marin staring ahead, Burga with his head in his hand and Napout appearing to take frantic notes, assistant USA attorney Keith Edelman pointed to each of the men and told the jury: "These defendants cheated the sport in order to benefit themselves".
"By all appearances it's a proud moment in the history of the game".
The trial will focus on how marketing and sponsorship rights were sold for two major South American tournaments, the Copa América and the Copa Libertadores, as well as the Brazilian domestic tournament Copa do Brasil. "There are drinks, press conferences but underneath the surface are lies, greed, corruption".
More than 40 people have pleaded guilty to participating in a 24-year scheme involving at least $150 million in bribes tied to the award of broadcasting and hosting rights for the World Cup and other tournaments.
Prosecutors say the defendants used shell companies, offshore accounts and bagmen to keep their dealings secret.
The evidence against them includes ledgers kept by executives who made the payments and records of wire transfers.
The case is being heard amid the sort of security usually reserved for mafia cases. Since then, the sport has had to confront allegations of widespread corruption and Sepp Blatter, Fifa president for 17 years, was ousted along with dozens of other officials.
"Lots of people got money, lots of people paid money - but not Manuel Burga", the attorney added. The testimony is likely to lift the veil on a global racketeering and bribery plot that ran for more than two decades at FIFA's highest levels.
"Rather than fix the harm done to the sport and its institutions, however, these conspirators engaged in the same unlawful practices that had enriched their predecessors", it says. Recordings appear to corroborate prosecutors' case against him.
The charges are connected to bribes that prosecutors say the defendants negotiated while they held executive positions, but one defendant's attorney argued that they stem from an American vendetta against soccer.
US prosecutors say Brazilian businessman Jose Maria Marin was a soccer official on the take - and wasn't always discreet about it.
"It's about time to- to have it coming our way", he said. He compared him with a player on the sidelines while others took care of business.
Charles Tillman, defence counsel for Marin, said his client was only ever an interim president of the Brazilian national federation, selected because he was the oldest vice president when the incumbent stepped aside.
"There is a crucial difference", Stillman said, "between being on the field and being in the game". Napout, 59, presided over the Paraguayan federation and was FIFA's president of South America's governing body.
"The witnesses they call are probably some of the most corrupt people on earth", Burga's attorney Bruce Udolf said.