Canada beat Russia 6-3 3-6 7-6 (7-5) in an epic decisive doubles rubber to reach the Davis Cup final in Madrid.

The pair of Vasek Pospisil and Denis Shapovalov beat Karen Khachanov and Andrey Rublev in a tie-break as Canada reached the final for the first time.

They will face either Great Britain or Spain on Sunday at 15:00 GMT.

Rublev beat Pospisil 6-4 6-4 in the opening singles rubber to give Russia the lead before Shapovalov levelled with a 6-4 4-6 6-4 win over Khachanov.

In the doubles, a final long backhand from Rublev sent Shapovalov and Pospisil leaping into the air and into each other’s arms.

Both Canada and Russia have only used two players during the competition, with Russia relying on Khachanov and Rublev after the withdrawal through fatigue of Daniil Medvedev.

Canada have benched Shapovalov’s Junior Davis Cup-winning team-mate Felix Auger-Aliassime following an ankle problem and were without Milos Raonic completely because of injury.

Rublev’s singles victory over world number 150 Pospisil, who had not lost a singles match in the tournament, put the pressure on world number 15 Shapovalov.

The Canadian number one rose to the challenge, fighting back from 1-4 down to win the first set. He then recovered from 0-40 to serve out the match against Khachanov.

Khachanov and Rublev had beaten Serbia’s Novak Djokovic and Viktor Troicki in a dramatic doubles rubber on Friday, saving three match points, but they could not repeat that feat on Saturday, with Pospisil and Shapovalov coming from 4-2 down in the tie-break and taking their second match point for victory.

It was their third Davis Cup semi-final, after previous last-four defeats in 1913 and 2013.

Andy Murray will not play in Great Britain’s Davis Cup semi-final against Spain on Saturday.

Captain Leon Smith is sticking with the team which beat Germany in Friday’s quarter-final, with Kyle Edmund and British number one Dan Evans playing the singles matches.

Murray, 32, was not picked against Germany after being rested for Thursday’s group win over Kazakhstan which booked their last-eight spot.

GB face Spain in Madrid at 16:30 GMT.

Evans won his first match of the tournament on Friday, beating Jan-Lennard Struff in the second singles rubber to seal GB’s place in the semi-finals.

Smith said before the Germany tie that whether to recall Murray would be one of his “more difficult decisions”.

The Scot won his singles match in the group opener against the Netherlands but had looked sluggish as he laboured to a three-set victory over Dutch world number 179 Tallon Griekspoor on Wednesday.

Murray admitted afterwards he was still “a couple of kilos” heavier than he would have liked after gaining weight while taking time off with his newborn son and family.

Great Britain’s semi-final sees Edmund taking on world number 34 Pablo Carreno Busta before Evans faces Rafael Nadal.

If the best-of-three tie goes to a decisive doubles rubber, Jamie Murray and Neal Skupski will play Marcel Granollers and Marc Lopez, although Nadal could replace Lopez as he did in the quarter-final victory over Argentina.

Andy Murray has offered to try to get tickets for Great Britain fans in Madrid who want to watch the team’s Davis Cup semi-final on Saturday.

Britain will play Spain or Argentina in the Spanish capital at 16:30 GMT.

Dan Evans and Kyle Edmund booked Britain’s place in the last four with victory over Germany on Friday.

“We will try to sort out as many tickets as possible for anyone who wants to come [and] support,” Scot Murray, 32, posted on Instagram.

It was not clear whether Murray’s offer was to increase Great Britain’s paid-for allocation or to try to secure free tickets for fans.

Murray did not feature in the quarter-final after captain Leon Smith decided not to recall the former world number one, who also missed the match against Kazakhstan after a laboured performance in the opening win over the Netherlands.

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The Lawn Tennis Association (LTA), British tennis’ governing body, said it was talking to tournament organisers about how many tickets would be available for British fans in the 12,500-capacity Manolo Santana Court at the Caja Magica.

Britain were backed by around 1,000 fans in their opening two group matches against the Netherlands and Kazakhstan, with that number thought to be slightly lower for the quarter-final against the Germans.

Shortly after Britain completed their win, and before the outcome of Spain’s tie against Argentina, the ticket portal on the Davis Cup finals website was showing about 300 were still available for the general public to buy.

“I don’t know how many Brits are in Madrid. There could be quite a few,” British captain Leon Smith said.

“If we do have an allocation that isn’t sold out, then obviously we’d like as many people to come and watch.

“One, for the atmosphere; and two, to keep supporting the event.”

Kyle Edmund delivered again in Andy Murray’s absence to start Great Britain’s Davis Cup quarter-final against Germany with a win.

Edmund, 24, repaid the faith shown in him by captain Leon Smith to win 6-3 7-5 against Philipp Kohlschreiber.

Former world number one Murray, 32, was left out for the second tie in a row.

British number one Dan Evans, winless so far in the Madrid finals, will put his team into the last four if he beats Jan-Lennard Struff later on Friday.

If Evans loses to the German world number 35, Jamie Murray and Neal Skupski would have to win the final doubles rubber to send Britain through in the best-of-three tie – as the pair crucially managed to do in each of the two group-stage matches.

Hosts Spain, led by 19-time Grand Slam champion Rafael Nadal, or an Argentina side without the injured Juan Martin del Potro, would be Britain’s opponents in a potential semi-final on Saturday.

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Edmund steps in to deliver again

Although British captain Smith had said whether to recall Andy Murray was likely to be one of his “most difficult” decisions, the absence of the three-time Grand Slam champion was still a major surprise when the team was announced an hour before the quarter-final tie.

Murray, 32, produced a laboured performance in his victory over Dutch world number 179 Tallon Griekspoor in the opening group match on Wednesday, admitting afterwards he was still a couple of kilograms heavier than he would like to be.

Whether down to a lack of sharpness or something else, his absence again meant Britain are relying on Edmund and Evans to deliver against the Germans.

Edmund, like he did against Kazakhstan’s Mikhail Kukushkin in Thursday’s must-win group tie, fulfilled his role spectacularly, producing one his finest matches of a year where he has struggled for victories on the ATP Tour.

Despite slipping to 69th in the world, Edmund has rediscovered his most potent weapon – blistering clean forehands – and improved his weaker backhand side at exactly the right time for his country.

The Yorkshireman hit 10 winners, compared to just six unforced errors, in a first set wrapped up in 32 minutes thanks to two breaks of serve and without facing a break point himself.

When 36-year-old Kohlschreiber did take his first chance at the third attempt in the fourth game of the second set, Edmund responded instantly to stop any momentum the German hoped to garner.

Showing a resilience and confidence often lacking this year, Edmund broke back with a forehand winner down the line, seconds after he chose the wrong side with a backhand which allowed the German to return at the net.

Two backhand winners down the line laid the platform for Edmund to break again for 6-5 and the opportunity to serve for the match, a chance he took with a hold to love sealed by a long Kohlschreiber return.

Edmund, usually so placid, revealed the emotions stirred by representing his nation in the Davis Cup by swinging a forearm high into the air after sealing a dominant win, embracing both Smith and Murray courtside before returning to the middle again to soak up the acclaim of the British fans.

While there appeared to be fewer Britons on a half-full court than at the two group ties against the Netherlands and Kazakhstan, those still in the Spanish capital provided sterling vocal support as they outnumbered their German counterparts.

“We have the best away fans here 100%, it feels like a home tie playing here,” Edmund said.

“We appreciate the efforts and we really feel it.”

Novak Djokovic’s Serbia missed out on the Davis Cup semi-finals as he and partner Viktor Troicki lost the decisive doubles against Russia despite having three match points.

The 16-time Grand Slam champion had levelled the tie by beating Karen Khachanov 6-3 6-3 after Andrey Rublev won 6-1 6-2 against Filip Krajinovic.

But Djokovic and Troicki lost 6-4 4-6 7-6 (10-8) to Khachanov and Rublev in the doubles as Russia took the tie 2-1.

“I let my team down,” Troicki said.

At an emotional news conference, the 33-year-old – who sent a straightforward volley long to squander Serbia’s final match point – added: “I never experienced such a moment in my career, in my life.

“We were up in the tiebreak. We had chances to finish it – we didn’t do it. I messed up in the crucial moments.

“God gave me once to be the hero, maybe to win the Davis Cup in the deciding rubber. Now he took it away. I’m really disappointed with myself.

“At the end there was one point that decided it. And I’m really, really disappointed in myself that I couldn’t hold my focus till the end and finish.”

Russia face Canada in Saturday’s semi-finals.

Great Britain are seeking to join Russia in the last four, with their tie against Germany under way.

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Andy Murray will not play in Great Britain’s Davis Cup quarter-final against Germany on Friday with captain Leon Smith opting to stick with the team who beat Kazakhstan.

Smith had previously said the decision over whether to recall Murray would be one of his “more difficult decisions”.

Murray, 32, was rested for Thursday’s Group E victory over Kazakhstan which booked their last-eight spot in Madrid.

He won his singles match in the opening group match against the Netherlands.

But former world number one Murray had looked sluggish as he laboured to a three-set win over Dutch world number 179 Tallon Griekspoor on Wednesday, admitting afterwards he was still “a couple of kilos” heavier than he would have liked after gaining weight while taking time off with his newborn son and family.

In the Scot’s absence, Kyle Edmund played one of his finest matches of the year to beat Kazakhstan’s Mikhail Kukushkin before Dan Evans was overpowered by Alexander Bublik in three sets.

British number one Evans, 29, is yet to win in the Madrid finals, although Smith is backing the 29-year-old to “find a way” to win.

Great Britain’s quarter-final starts at 16:30 GMT, with Edmund taking on Philipp Kohlschreiber before Evans faces Jan-Lennard Struff. If the best-of-three tie goes to a decisive doubles rubber, Jamie Murray and Neal Skupski will play Kevin Krawietz and Andreas Mies.

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One “massive” team event, featuring both men and women, is the long-term goal as the new look Davis Cup Finals conclude in Madrid this weekend.

Eighteen teams have been competing for the title over just seven days, with Wednesday’s matches not finishing until 04:04 GMT on Thursday morning.

A rival men’s team competition will be staged in just six weeks’ time, when the inaugural ATP Cup takes place in Australia.

“The calendar is probably the number one issue for everyone in tennis,” according to Kelly Fairweather of the International Tennis Federation, which has licensed the Davis Cup to Gerard Pique’s investment group Kosmos.

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“It’s not getting any easier by the addition of events. A year ago at the ATP Finals we had some of these discussions, so we’re hoping to pick that up again. Wouldn’t it be wonderful for tennis to have one massive team event?

“Sport is so competitive anyway. I don’t think we should be really competing among ourselves.”

The ITF will be encouraged by the comments Novak Djokovic made earlier in the week. The 16-time Grand Slam champion, who is president of the ATP Player Council, said he did not believe the Davis Cup and the ATP Cup could “coexist six weeks apart” in the long term.

“Obviously we have to be sensitive to all different parties,” Fairweather said in an interview on BBC Radio 5 Live Sports Extra.

“But if you’ve got Novak saying that, that hopefully opens the door for a discussion with the ATP. From an ITF point of view, wouldn’t it be fantastic to also have a joint men’s and women’s World Cup together? That would be sensational. It’s an ambition.”

The immediate future of the Davis Cup Finals, however, may be Madrid. The Spanish capital is keen to extend its two years as hosts, and Fairweather says the ITF is sympathetic to the idea of staying in Madrid for an extra year.

While the event remains just one week long, doubles matches may be shortened as they are on the ATP Tour. Deciding points at deuce, and a ‘match tiebreak’ rather than a third set, should mitigate to some extent a sequence of extremely late finishes.

Fairweather also revealed they expect to lose money for the first three years.

“I think if you look at the business plan, the fourth year is really where we as partners are hoping to see this turn into a profit making venture. There are areas in particular on the media rights side that have a huge amount of room for growth.”

Kosmos is investing $80m (£63m) a year into the competition, which includes $20m in prize money and a $44m licence fee to the ITF.

An additional $45m a year has been earmarked to develop other formats, such as a mixed team competition and a winner takes all event.

“A winner takes all with a big pot of prize money [with a working title of the Majesty Cup], that’s something that’s under discussion,” Fairweather added.

“We’ve just had expressions of interest from almost 10 cities that are keen to put on the Hopman Cup [the mixed team event traditionally staged in Australia in January – before the introduction of the ATP Cup].”

“Gerard [Pique] really wants to be innovative, he wants to really provide an incentive for the players to come and do something different, which is not week in week out on tour events.

“The mixed team event has a huge amount of potential, and that’s something that we want to capitalise on.”

British captain Leon Smith says whether or not to recall Andy Murray for Friday’s quarter-final against Germany at the inaugural Davis Cup finals is one of his “more difficult decisions”.

Murray, 32, was rested for the Group E victory over Kazakhstan which booked their last-eight spot in Madrid.

With Britain facing the Germans at 16:30 GMT, Smith says he will make his decision in the morning.

“Andy is a team player and understands what is best for the team,” he said.

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Former world number one Murray looked sluggish as he laboured to a three-set win over Dutch world number 179 Tallon Griekspoor in the opening group match on Wednesday, admitting afterwards he was still “a couple of kilos” heavier than he would have liked after gaining weight while taking time off with his new-born son and family.

In the Scot’s absence, Kyle Edmund played one of his finest matches of the year to beat Kazakhstan’s Mikhail Kukushkin before Dan Evans was overpowered by Alexander Bublik in three sets.

British number one Evans, 29, is yet to win in the Madrid finals, although Smith is backing the 29-year-old to “find a way” to win.

Following 24-year-old Edmund’s performance, it appears likely Evans will make way for Murray’s return – if Smith decides he is in good enough shape.

“There is no awkwardness about who is going to play, who isn’t going to play, it is a good, open and honest discussion. That’s what we will do again,” Smith said.

“It might be one of the more difficult decisions I’ve had to make, but it is also better when you have got the quality we’ve got to be able to have those discussions.

“We can look at who is in the best physical condition, and look at the match-ups again, linking those factors together to do what is best for the team.

“Because we are scheduled tomorrow evening it gives us time to see if everybody is right and how they feel.”

Germany reached the quarter-finals by topping Group C, winning five of their six rubbers against Argentina and Chile.

Philipp Kohlschreiber, their experienced second-ranked singles players, has dropped one set in his two victories, while leading player Jan-Lennard Struff is ranked higher than any of the British players at 35th in the world.

Struff dropped their only rubber in a three-set loss to Chile’s Cristian Garin on Thursday with French Open champions Kevin Krawietz and Andreas Mies showing their class by cruising through the doubles matches.

“I think it will close, a 50-50 match again, although we shouldn’t have anything to fear,” Smith added.

Who else is in the quarter-finals?

Barcelona footballer Gerard Pique has overseen the transformation of the 119-year-old competition into a season-ending ‘World Cup of Tennis’, which saw the 18 nations split into six groups of three.

The six group winners automatically qualified for the last eight with the two best-placed runners-up joining them.

The quarter-final line-up is:

• Australia v Canada
• Serbia v Russia
• Great Britain v Germany
• Argentina v Spain

Australia take on Canada later on Thursday in the first last-eight tie, with the other three matches taking place on Friday.

Serbia face Russia from 09:30 GMT while Friday’s other two ties are both due to start at 16:30.

Scheduled start times of both sessions have been moved forward 30 minutes after late finishes earlier this week, with a tie between Italy and USA concluding at 4:04am local time on Thursday. In addition, the break between the first and second singles rubbers has been cut from 20 minutes to 10.

The same start times will be in place for Saturday’s semi-finals.