I wouldn't try and scrub a PCB clean before soldering. The exposed copper should already be coated with gold, tin, or some other finish to protect it from oxidation, and unless the board is very old, it should solder just fine with a suitable flux.
Plain copper stripboard is different, though. I usually give any stripboard a thorough clean with fine steel wool, which is way too abrasive to use on a PCB, but works well at removing the inevitable oxide layer that builds up on exposed copper.