German duo Alexander Zverev and Angelique Kerber recorded a 2-1 overall victory against Australian pairing Daria Gavrilova and Thanasi Kokkinakis to secure Germany's first Hopman Cup final for 23-years.

The first match of the day between the two sides saw former world number one Kerber outclass Gavrilova, who represented Russia until 2015, 6-1, 6-2 in just 59 minutes in the women's singles.

It had initially looked like it was going to be a hard afternoon for Kerber after she went 0-40 down in her opening service game.

However, she was able to recover admirably to take the first set by hitting 10 winners to Gavrilova's one.

Kerber, who is making her Hopman Cup debut this year, then carried her momentum into the second set, again winning it with ease.

After her victory, 2016 Australian and US Open champion Kerber said: "I know Dasha is such a tough opponent, so I was just trying to focus on every ball.

"I tried to enjoy it.

"I've been working on a lot of things, trying to be aggressive, move well but also be more consistent."

The men's singles match between Zverev and Kokkinakis in front of 14,000 spectators was far more competitive with the latter coming back from a set down to win 5-7, 7-6, 6-4 in two hours 41 minutes to tie the overall score at 1-1.

World number four Zverev looked the favourite to take the match after securing the first set, but Kokkinakis, who is ranked outside the world's top 200, put in a stunning performance in the next two sets to secure a shock victory in the first-ever senior meeting between the pair.

The second set tie-break exemplified the confidence that Kokkinakis, who is mentored by two-time Grand Slam champion Lleyton Hewitt, felt as he hit three drive volleys before a Zverev backhand drifted long to give the Australian the set.

The deciding third set was similarly tense with the 21-year-old Australian failing to convert two match points with the score at 5-4 in his favour.

However, Zverev's misplaced backhand moments later handed the match to Kokkinakis.

After the match, the Australian, who has been blighted by injury for the past two seasons said: "I think you can say that I'm back.

"It's against someone like him.

"I was there, or thereabouts when we were in juniors.

"I got injured and he just took off at world number four.

"Being the same age, there is a little rivalry there.

"It annoyed me, but it also made me hungry.

"It definitely means a lot and I'm very happy with my level here.

"I have a long way to improve, but it gives me an assurance that the work I'm doing with my coaching staff and team for all this time out is paying off."

This defeat in the men's singles put huge pressure on Zverev and Kerber going into the mixed doubles match, however, they managed to win 1-4, 4-1, 4-3.

After two one-sided sets, the deciding third had to be decided by a Fast4 tie-break

Kokkinakis continued his good momentum from the singles with a bullet backhand return winner to send the home team 3-1 in front.

However, Kerber stretched for a wide Kokkinakis serve and managed to curl in a sensational forehand return to restore parity.

Zverev and Gavrilova then became embroiled in an elongated rally with each other, before Zverev caught Kokkinakis off guard at the net to secure Germany's place in tomorrow's final.

After booking their place in the final Zverev said: "It's amazing.

"I'm going to give Angie [Kerber] all the credit, I nearly screwed up the whole thing.

"The singles was one thing, but in the mixed I played a horrible first set.

"She kept pushing me and kept saying 'come on we can do this'.

"I haven’t played my best yet.

"Hopefully I can get better."

Kerber added: "It was a really nervous third tie-break set.

“It was up and down with a lot of nervous rallies but in the end we won and we are both very excited to play the final."

Prior to the tie between Germany and Australia, Belgium had been hoping to book their place in the final and recorded a comprehensive 3-0 win over Canada to keep their hopes up.

Elise Mertens beat Wimbledon 2014 runner-up Eugenie Bouchard 6-4, 6-4 in the women’s singles before world number seven David Goffin recorded a similarly comfortable 6-2, 6-4 victory over two-time Olympian Vasek Pospisil in the men's singles.

The mixed singles affair was officially scored as a 4-0, 4-0 win for Belgium due to the withdrawal of Bouchard through injury.

However, the 3-0 win was not enough as Germany's victory against Australia later in the day ensured they topped Group A after three matches.

Germany's final against Switzerland, who will be represented by Roger Federer and Belinda Bencic, will take place at 4pm local time tomorrow.