Novak Djokovic said it was "a tough one" to take after Serbia's hopes of retaining the ATP Cup title were ended by defeat to Germany.

The world number one scored a tense 6-7 (3-7) 6-2 7-5 victory over Alexander Zverev in their singles rubber, levelling the match after Jan-Lennard Struff beat Dusan Lajovic in three sets.

Zverev and Struff then teamed up in doubles to net a 7-6 (7-4) 5-7 10-7 win over Djokovic and Nikola Cacic.

The singles workout and win sets up the eight-time Australian Open champion well for the start of that grand slam next week, which was the consolation Djokovic could take from defeat.

Speaking about his singles clash with Zverev, Djokovic said: "It was anybody's game really. He was a set up, a couple points here and there in the beginning of the second. I just returned well when I needed to and closed out the match.

"It's never easy playing against Sascha [Zverev] when he's in form, and he's in really good form. We pushed each other to the very limit, and I'm glad that I had such a battle with him.

"It's unfortunate we lost the tie. That's what this competition is all about. It's about the team, not about winning one match, a singles match. Yeah, it's a tough one."

Germany advance to face Russia in the semi-finals on Saturday, with Daniil Medvedev and Andrey Rublev a formidable combination awaiting them.

Spain secured a shot at Italy in the second semi-final, despite a 2-1 defeat to Greece on Friday.

The Spanish team needed just one win in the group-stage match to advance, and that predictably came as Pablo Carreno Busta, ranked 16th by the ATP, beat world number 462 Michail Pervolarakis.

His 6-3 6-4 success could not be matched by team-mate Roberto Bautista Agut, who fell to a 7-5 7-5 defeat against Stefanos Tsitsipas, while Spain retired from the doubles rubber after one game, giving Greece a 2-1 success in the tie.

It remains to be seen whether Rafael Nadal will be fit to play any part in the semi-final, with the 20-time grand slam champion having been absent so far in the campaign due to a back injury.

"He's working very hard to recover his best feelings," said Spain captain Pepe Vendrell.

"Obviously he couldn't play any matches during the week. It's a situation that we have to study. But day by day he's improving. We will see [on Saturday] if he can play."

AWAY FROM THE ATP CUP, WAWRINKA ABANDONS

In the Murray River Open, Stan Wawrinka withdrew from his quarter-final with Jeremy Chardy after beating Australian Alex Bolt in a tough three-set match earlier in the day. Corentin Moutet, Dan Evans and Felix Auger-Aliassime joined Chardy in the last-four line-up.

Evans defeated Borna Coric, who had eliminated Australian hope Nick Kyrgios in his previous match.

All ATP and WTA tournaments are being played at Melbourne Park this week.

Thursday's play was cancelled due to a COVID-19 case affecting a worker from a hotel that accommodated quarantining players, and that meant Friday's schedule was packed.

The Great Ocean Road Open also saw players needing to win two matches in a day to reach the semi-finals, with Karen Khachanov, Thiago Monteiro and the Italian pair of Jannik Sinner and Stefano Travaglia coming through.

Australian Open champion Novak Djokovic could face Dominic Thiem in a mouth-watering semi-final after being handed a tough path to success at Melbourne Park, where Serena Williams will continue her quest for a 24th grand slam singles title.

The Australian Open draw took place on Friday, with world number one Djokovic set to play Frenchman Jeremy Chardy in the opening round of the year's first major tournament.

Amid coronavirus concerns in Melbourne, where Swiss great Roger Federer is absent, Djokovic has set his sights on a ninth crown and 18th major success, but the top seed's title defence is far from straightforward.

Djokovic could face Gael Monfils (fourth round) and sixth seed Alexander Zverev (quarter-final) en route to a possible semi-final against US Open champion and third seed Thiem.

The Serb overcame Thiem in a five-set thriller in last year's Australian Open final, before the latter broke through for his maiden major trophy at Flushing Meadows.

Djokovic could then meet second seed and 20-time major champion Rafael Nadal in a blockbuster final – he blitzed the Spanish superstar in the 2019 Australian Open decider but lost in three one-sided sets in their previous meeting in the French Open final.

Nadal will go head-to-head with another Serb in the first round – Laslo Djere – while Stefanos Tsitsipas could await in the quarters, with 2019 US Open final opponent Daniil Medvedev also on the same side of the draw.

Meanwhile, Williams' bid for a record-equalling 24th slam will begin against German Laura Siegemund.

The 39-year-old Williams has been stuck on 23 majors since winning the Australian Open in 2017 – losing finals at Wimbledon (2018 and 2019) and the US Open (2018 and 2019).

World number one and local hope Ashleigh Barty will meet Montenegro's Danka Kovinic in round one and defending champion Sofia Kenin faces Australian wildcard Maddison Inglis.

The last 16 could see Williams clash with Aryna Sabalenka, Barty meet Petra Martic, Kenin tackle Johanna Konta and three-time major champion Naomi Osaka do battle with last year's runner-up Garbine Muguruza.

Novak Djokovic continued his perfect record at the ATP Cup to help Serbia beat Canada in their opening tie.

The world number one won all eight of his rubbers in the 2020 tournament and made a fine start to this event by battling to a 7-5 7-5 win over Denis Shapovalov in Melbourne.

Milos Raonic had earlier put Canada in front when he beat Dusan Lajovic 6-3 6-4, meaning Djokovic had to return for a decisive doubles clash alongside Filip Krajinovic. 

The Serbians prevailed, winning 7-5 7-6 (7-4) against Shapovalov and Raonic.

"Filip Krajinovic was the key," Djokovic said after the doubles triumph extended his undefeated run to 10. 

"The way he played is phenomenal. He came out with very solid returning. He found his serve, great rhythm. He just played some really key shots in the second set when we needed it the most."

Of his singles win, Djokovic added: "It was a very close match. Playing Shapo is always a great challenge on hard courts. 

"He's such a dynamic, explosive player; very talented. I thought we played on a very high level, so I'm really pleased with how I've started the season.

"This is the best way to kickstart the season, playing for your country.

"We don't get to see crowds in the tennis stadiums these days so much, so it's definitely a blessing. I'm really grateful to see you guys here in the stands."

SPAIN WIN WITHOUT NADAL

Defending champions Spain were without Rafael Nadal for their tie against Australia, but they still prevailed.

Pablo Carreno Busta had few problems seeing off John Millman 6-2 6-4.

And Roberto Bautista Agut ensured the tie was won before the doubles by emerging triumphant in an entertaining encounter with Alex de Minaur, which the Spaniard won 4-6 6-4 6-4.

Nadal, who is battling a back problem, hopes to return on Thursday when Spain take on Greece.

Elsewhere, Austria fell to a 2-1 loss against Italy, as US Open champion Dominic Thiem struggled.

After team-mate Dennis Novak had superbly beaten Fabio Fognini, world number three Thiem fell to a surprise 6-2 6-4 loss against Matteo Berrettini, with Austria going on to lose the decisive doubles.

Andrey Rublev and Daniil Medvedev beat Guido Pella and Diego Schwartzman respectively as Russia produced an impressive performance to beat Argentina.

Elsewhere, at the Murray River Open, Nick Kyrgios made a winning start to his comeback after a year out of action.

He did not have it easy against the unheralded Frenchman Alexandre Muller, but salvaged a 3-6 6-4 7-6 (7-4) victory to book a second-round meeting with fellow Australian Harry Bourchier.

Rafael Nadal wants to play at the Olympics but the star said fitting more quarantining into the ATP Tour calendar looked "difficult".

After being postponed last year due to the coronavirus pandemic, the Games are scheduled to start in Tokyo on July 23.

Naomi Osaka said she would be willing to quarantine ahead of the Olympics, with players having gone through similar in preparation for the Australian Open.

Nadal, an Olympic gold medallist in singles and doubles in 2008 and 2016 respectively, said he would listen to the experts, but acknowledged quarantining could be tough.

"It's the same as always. I am nobody to have a clear opinion on that.  I am just a tennis player, a human person that doesn't have enough knowledge about all the situation," the Spanish star told a news conference on Sunday.

"What we have to do is just follow the instructions of what the people who really have the right knowledge of all this stuff give to us. What's going to happen in Tokyo for the Olympics, if the Olympics are going to happen or not, or if we have to do quarantine before Olympics for 15 days or not, seems like a sports perspective very difficult because it's difficult for us, I don't know, combining our Tour with another 15 days of quarantine to play Olympics. It looks difficult to fix it in our calendar.

"But, as I said, we're going to do what the people who know about virus and who know about protecting the people in every single country, [we] are going to just follow their instructions."

Asked if his intention was to go, Nadal said: "I think everybody wants to play in Olympic Games, then let's see what's going on."

Nadal and Spain will begin their ATP Cup campaign against Australia on Tuesday.

Serena Williams and Rafael Nadal agreed it was great to be playing in front of busy grandstands again as tennis stars emerged from lockdown in Australia.

The women's and men's tennis tours have been contested largely behind closed doors over the past year, and a number of tournaments, most notably Wimbledon, have been cancelled due to the COVID-19 crisis.

The Australia public has given a cautious welcome to the arrival of the world's leading players, who have been quarantining in hotel rooms for much of the past fortnight, only allowed to briefly leave in order to train.

Ahead of the Australian Open, which begins on February 8 in Melbourne, Williams and Nadal are among a star-studded set of players who travelled to Adelaide to feature in the 'A Day at the Drive' exhibition event.

They both scored victories on Friday, with Williams defeating US Open champion Naomi Osaka 6-2 2-6 10-7 and Nadal snatching a 7-5 6-4 win over Dominic Thiem.

The delight in both at seeing crowds at a tournament was plain, with Williams saying in an on-court interview: "Thanks everyone for having us. We haven't played in front of a crowd in over a year. It's been a really long time."

In fact, it has not quite been a full year since the tours locked down initially, as it was early March when most tournaments began to be called off, with crowds frozen out.

Williams said the reception made the difficult past fortnight, being hidden away from the world, worth the strain for the players.

"This is really cool and then for having us and trusting us with your laws was great," said the 23-time grand slam winner. "We were so excited to be here and it's worth it."

Nadal said he was "super happy" to still be playing at the highest level and back in front of Australian crowds.

The pandemic has been carefully managed to the point where very few have the virus and it is considered safe to allow crowds into sporting events in the country.

Nadal said: "Hopefully this situation will go away quick and we will be able to enjoy fans on court [around the world].

"We're super excited to have fans at the Australian Open and today."

That optimism and excitement was shared by men's world number one Novak Djokovic, who played just one set against Jannik Sinner due to a problem with blisters on his right hand.

Eight-time Australian Open champion Djokovic told fans: "Thank you so much for coming out and making our day and making our year.

"We didn't play in front of this much crowd for 12 months. This is definitely something very special.

"It wasn't easy, obviously, with 14 days being constrained in the room and a few hours to train, but at the end of the day it was worth it because you guys made it very special today for us."