Despite trailing Canada 1-2 heading into Sunday's final day of competition in the Davis Cup semifinals, Serbia clinched the remaining singles rubbers to reach the finals.
Novak Djokovic led off action in his first singles match against Canada's Milos Raonic. Though Djokovic went up an early break in the first set, Raonic leveled things and eventually forced a tiebreak.
But Djokovic dominated the breaker seven points to one to take the early lead. Able to return Raonic's big serve with ease, Djokovic claimed the next two sets and sealed the 7-6(1), 6-2, 6-2 win to level the tie at 2-all.
That left the last singles rubber between Janko Tipsarevic and Vasek Pospisil of Canada to decide the tie. Pospisil, who partnered with Daniel Nestor on Saturday to take the doubles rubber, halted play early in the first set as he took a medical time out to deal with an elbow injury.
Pospisil played on and reached a first set tiebreak but only to watch as Tipsarevic took it seven points to three.
The veteran Tipsarevic cruised through the second set but found himself tangled in yet another tiebreak in the third. Though he led 6-2 in the breaker, Tipsarevic blew multiple match points before finally claiming the 7-6(3), 6-2, 7-6(6) victory.
“This is one of the sweetest wins of my career and I hereby wish to thank my teammates for their support," Tipsarevic said later.
Serbia will now face defending champions Czech Republic when the finals are contested in Belgrade later this year.
Follow Erik Gudris on Twitter @ATNtennis