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Felix Auger-Aliassime and Vasek Pospisil won the deciding doubles rubber in straight setsCanada will face Australia in the Davis Cup final on Sunday after beating Italy in the semi-finals.
Italy's Lorenzo Sonego defeated Denis Shapovalov 7-6 (7-4) 6-7 (5-7) 6-4 in an opening singles rubber lasting three hours and 15 minutes in Malaga.
World number six Felix Auger-Aliassime levelled the tie for Canada with a 6-3 6-4 victory over Lorenzo Musetti.
He and Vasek Pospisil then won the deciding doubles 7-6 (7-2) 7-5 against Matteo Berrettini and Fabio Fognini.
It is the second time Canada have reached the Davis Cup final, having first done so in 2019 when they lost to Rafael Nadal's Spain.
Australia - the 28-time champions of the tournament - reached their first Davis Cup final since 2003 on Friday with victory over Croatia.
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