Novak Djokovic continued his perfect record at the ATP Cup to help Serbia beat Canada in their opening tie.
The world number one won all eight of his rubbers in the 2020 tournament and made a fine start to this event by battling to a 7-5 7-5 win over Denis Shapovalov in Melbourne.
Milos Raonic had earlier put Canada in front when he beat Dusan Lajovic 6-3 6-4, meaning Djokovic had to return for a decisive doubles clash alongside Filip Krajinovic.
The Serbians prevailed, winning 7-5 7-6 (7-4) against Shapovalov and Raonic.
"Filip Krajinovic was the key," Djokovic said after the doubles triumph extended his undefeated run to 10.
"The way he played is phenomenal. He came out with very solid returning. He found his serve, great rhythm. He just played some really key shots in the second set when we needed it the most."
Of his singles win, Djokovic added: "It was a very close match. Playing Shapo is always a great challenge on hard courts.
"He's such a dynamic, explosive player; very talented. I thought we played on a very high level, so I'm really pleased with how I've started the season.
"This is the best way to kickstart the season, playing for your country.
"We don't get to see crowds in the tennis stadiums these days so much, so it's definitely a blessing. I'm really grateful to see you guys here in the stands."
SPAIN WIN WITHOUT NADAL
Defending champions Spain were without Rafael Nadal for their tie against Australia, but they still prevailed.
Pablo Carreno Busta had few problems seeing off John Millman 6-2 6-4.
And Roberto Bautista Agut ensured the tie was won before the doubles by emerging triumphant in an entertaining encounter with Alex de Minaur, which the Spaniard won 4-6 6-4 6-4.
Nadal, who is battling a back problem, hopes to return on Thursday when Spain take on Greece.
Elsewhere, Austria fell to a 2-1 loss against Italy, as US Open champion Dominic Thiem struggled.
After team-mate Dennis Novak had superbly beaten Fabio Fognini, world number three Thiem fell to a surprise 6-2 6-4 loss against Matteo Berrettini, with Austria going on to lose the decisive doubles.
Andrey Rublev and Daniil Medvedev beat Guido Pella and Diego Schwartzman respectively as Russia produced an impressive performance to beat Argentina.
Elsewhere, at the Murray River Open, Nick Kyrgios made a winning start to his comeback after a year out of action.
He did not have it easy against the unheralded Frenchman Alexandre Muller, but salvaged a 3-6 6-4 7-6 (7-4) victory to book a second-round meeting with fellow Australian Harry Bourchier.
Paolini and Bronzetti seal fifth Billie Jean King Cup for Italy
Victories for Jasmine Paolini and Lucia Bronzetti handed Italy their fifth Billie Jean King Cup title as they overcame Slovakia in Wednesday's final in Malaga.
Italy, who were beaten in last year's final by Canada, overcame Poland in the semi-finals on Monday as Paolini partnered Sara Errani for a decisive doubles win over world number two Iga Swiatek and Katarzyna Kawa.
The showpiece contest began with Bronzetti triumphing 6-2 6-4 against Viktoria Hruncakova, before Paolini took to the court to face Rebecca Sramkova.
The world number four – who won doubles gold at the Paris Olympics in August to cap her breakout year – eased past Sramkova by a 6-2 6-1 scoreline to ensure a doubles match was not required.
Speaking after Italy claimed the trophy for the first time since 2011, Bronzetti heaped praise upon her team-mate and revealed she had struggled to sleep before playing in front of 12-time grand slam champion King.
"Jasmine raised her level really high this year. She's an example for all of us," Bronzetti said.
Asked about King's presence in the crowd, Bronzetti added: "She is a great person, a great legend. I didn't sleep very well.
"You're not playing just for yourself. You're playing for your team and your country. We all want this trophy, and it is our dream, all Italians."
Data Debrief: Five-star Italy
Italy have claimed their fifth Billie Jean King Cup, having previously triumphed in 2006, 2009, 2010 and 2013.
Only the United States (18), Czechoslovakia/Czechia (11) and Australia (seven) have won more. Spain and Russia (also including the USSR and Russian Tennis Federation) have also tasted success five times.
Germany set up Netherlands semi-final showdown at Davis Cup
Germany booked their place in the Davis Cup semi-finals after wrapping up a 2-0 victory over Canada in Malaga.
Daniel Altmaier and Jan-Lennard Struff were both victorious over Gabriel Diallo and Denis Shapovalov respectively, to set up a last-four clash with the Netherlands.
Germany were beaten 2-1 by Canada when the nations met at this stage of the 2022 Davis Cup, but they drew first blood when Altmaier came through a hard-fought clash with Diallo 7-6 (7-5) 6-4.
It looked like the tie would go to a doubles decider when former Wimbledon semi-finalist Shapovalov took the opening set against Struff.
But the world number 43 bounced back to prevail 4-6 7-5 7-6 (7-5) after two hours and seven minutes.
"Denis was playing amazingly, coming out firing," Struff said. "It was a very tough match. He was serving so well. It was tough to return. The court is very fast. An incredible match. I'm just happy to get over the line at the end."
On Friday's semi-final with the Dutch, he added: "It's a big step for us to go from the quarters to the semis. For sure, we want to win and go to the final now.
"Netherlands played an amazing match yesterday, beating Spain here in front of a home crowd. We expect a very tough opponent."
Data Debrief: Germany through as errors cost Canada
The two tie-breaks proved pivotal as the Germans secured only their second Davis Cup semi-final appearance since 2008 (also reaching that stage in 2021).
Though both sets were tight during the first match, Diallo hit 40 unforced errors to Altmaier's 17, and was 6-1 for double faults.
Similarly, in the second rubber, though Shapovalov was 27-8 for aces, 13 double faults to just four from Struff proved costly.
Altmaier and Struff's reward is a first meeting with the Netherlands since the 2001 quarter-finals, which the Dutch won 4-1.
Nadal 'legacy is going to be eternal' - Alcaraz
Carlos Alcaraz says Rafael Nadal's legacy "is going to be eternal" after the 22-time major winner brought the curtain down on his glittering career.
The 14-time French Open champion played his final match on Tuesday, as Spain bowed out of the Davis Cup following defeat by the Netherlands.
Following the conclusion of the tie, Nadal fought back tears as he received a huge ovation from the Malaga crowd.
Alcaraz, who partnered the 37-year-old in the men's doubles at the Paris Olympics, is widely expected to follow in his footsteps, having already landed four major singles titles.
The 21-year-old thinks his compatriot's "legacy is going to be eternal".
"He has been great for tennis, for the sport in general," Alcaraz said. "It is difficult, at least for me, to feel that I should continue the legacy that he has left.
"It is difficult, almost impossible. I will just try to do my best. Right now, it's time to say great things about Rafa."
"There are people who will be remembered for their achievements in life, others until the end of their days, and others eternally," Spain captain David Ferrer told Nadal. "You will be remembered eternally."
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