Belinda Bencic fought back to beat Angelique Kerber in a blockbuster showdown and help Switzerland eliminate Germany on day two of the Billie Jean King Cup in Prague.

Germany lost to hosts Czech Republic on the opening day and were brushed aside 3-0 by Switzerland on Tuesday, with world number nine Kerber losing 5-7 6-2 6-2 to Bencic.

Kerber was carrying an injury and was outlasted by the Olympic gold medallist, with that triumph coming after Viktorija Golubic defeated Andrea Petkovic 6-4 7-5.

Golubic and Jil Teichmann added further gloss to the scoreline by overcoming Anna-Lena Friedsam and Nastasja Mariana Schunk in the doubles.

Switzerland will now meet the Czech Republic in a winners-takes-all contest to determine who finishes top of Group D.

The upset of the day came in Group B as Australia beat Belgium 2-1, with Daria Gavrilova kicking things off by beating Greet Minnen 6-4 1-6 6-4.

Storm Sanders then battled back to beat Elise Mertens 4-6 7-6 (7-5) 6-0, rendering Mertens and Minnen's doubles win nothing more than a consolation. 

In Group A, Russia cruised to a 3-0 win over Canada.

Daria Kasatkina beat Carol Zhao 6-3 6-1 and Anastasia Pavlyuchenkova was too strong for Rebecca Marino as she prevailed in three sets.

Slovakia top Group C, meanwhile, after beating the United States 2-1. Shelby Rogers fell 6-4 6-4 to Viktoria Kuzmova before Danielle Collins levelled with a 6-3 6-2 win against Anna Karolina Schmiedlova.

That set up a decider in the doubles, which went the distance as the Slovakian pair of Kuzmova and Tereza Mihalikova prevailed 6-2 6-7 (5-7) 12-10 in a thriller with Caroline Dolehide and CoCo Vandeweghe.