Roger Federer and Belinda Bencic beat Serena Williams and Frances Tiafoe

Hopman Cup: Serena Williams and Roger Federer to play for first time

With 43 Grand Slam singles titles (Williams 23, Federer 20) and more than US$200 million in prize money between them, the two 37-year-olds had welcomed the chance to face each other on the court in an official match for the first time.

Federer and playing partner Belinda Bencic overcame Williams and Frances Tiafoe in the Fast4 format as Switzerland beat the USA 2-1 in front of a 14,000 capacity crowd.

Williams will take on Belinda Bencic in the women's singles rubber.

Williams held up her end, dominant on serve throughout, but Frances Tiafoe was broken in the first set before Federer served it out in the second set tie break to seal the tie.

"I admire everything she's done on and off the court, we are both fierce competitors and we always want to win", he said, according to Agence France-Presse.

They'll meet in a mixed doubles match at the Hopman Cup.

Despite their concurrent careers, Federer said it would be an "exaggeration" to say he knew Williams well. "I think it's just now about maintaining, making sure I stay healthy, stay fit and inspired out there, come up with good solutions and take the right decisions at the right time", Federer said.

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Serving at 4-2, Serena fends off two break points and bringing the game home with an ace before a solid hold in the ninth game that sent her over the finish line and kept the United States of America in contention.

"I really look forward to sharing the stadium with him", added Williams, who will be pursuing a record-equaling 24th major at the Australian Open next month.

If Switzerland beats Greece on Thursday they will be through to the final, where they will defend the title they won past year. I think his serve is super-underestimated. The winners of each group will contest Saturday's final. Hearing your stories makes me know I can do this.

"What a thrill it is to play Serena here tonight", he told the crowd.

Federer beat Cameron Norrie, the British No 2, 6-1, 6-1 in 57 minutes as Switzerland defeated Great Britain 3-0.

The pair battled it out for over two hours in their first round match before Venus broke through in the sixth game of the decider to set up victory.

"It was a great experience, I am kind of sad it's over", Williams said.

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