Novak Djokovic and Janko Tipsarevic led Serbia into a Davis Cup final clash with defending champions the Czech Republic on Sunday after over-turning a 2-1 deficit to beat Canada 3-2 in the semi-finals.
Serbia, the 2010 champions, will host the November 15-17 final against the Czechs who had already made sure of victory in their semi-final on Saturday when they opened up an unassailable 3-0 lead against Argentina in Prague.
World number one Djokovic kept Serbia alive in Belgrade by seeing off world number 11 Milos Raonic 7-6 (7/1), 6-2, 6-2.
Tipsarevic, the world number 24, then assured Serbia of a second final in four years by defeating Vasek Pospisil 7-6 (7/3), 6-2, 7-6 (8/6).
But Pospisil went down fighting, coming back from 5-2 down in the third set and saving four match points in the ensuing tiebreaker.
"I've won a number of Grand Slams but nothing compares to sharing the joy of victory with your team mates, who are there for you and cheer on every shot you take on the court in the Davis Cup," said Djokovic, who arrived in Belgrade having been defeated by Rafael Nadal in the US Open final in New York on Monday.
Tipsarevic added: "This is one of the sweetest wins of my career and I wish to thank my team mates for their support.
"See you right here in the final against the Czechs."
November's final will be the third meeting between Serbia and the Czech Republic in the last four seasons.
Serbia won the 2010 semi-final 3-2 before the Czechs got revenge with a 4-1 quarter-final win last year.
In Prague, Argentina won the two dead rubbers with Horacio Zeballos beating Lukas Rosol 4-6, 7-6 (8/6), 6-4 and Leonardo Mayer defeating Jiri Vesely 6-4, 6-4.
Radek Stepanek and Tomas Berdych, who had won their singles on Friday, had wrapped up the tie for the Czech Republic on Saturday by beating Carlos Berlocq and Zeballos in the doubles, 6-3, 6-4, 6-2.
"For sure it is tough playing away," said Czech captain Jaroslav Navratil.
"In 2009 against Spain we lost very easily 5-0, but my guys are good and experienced enough to play finals away from home."
Australia, the 28-time champions, returned to the World Group for the first time in six years with Bernard Tomic supplying the crucial third point against Poland with a 6-4, 7-6 (7/5), 6-3 win over Lukasz Kubot in Warsaw.
The victory gave Pat Rafter's team an unassailable 3-1 lead.
"We want to make a stand again and feel like we should be part of it," said Rafter.
Andy Murray secured Britain's return to the World Group after a five-year absence when he defeated Croatia's Ivan Dodig 6-4, 6-2, 6-4 in Umag for a 3-1 advantage.
Wimbledon and Olympic champion Murray won his opening singles on Friday and teamed up with Colin Fleming to win the doubles on Saturday.
"I thought it was pretty good match. I didn't give him a lot of opportunities on my serve," said the world number three.
World number 12 Kei Nishikori helped propel Japan back into the World Group with a 3-2 comeback victory over Colombia in Tokyo.
Nishikori overpowered Santiago Giraldo 6-1, 6-2, 6-4 to level the tie before Go Soeda held his nerve to beat Alejandro Falla 4-6, 6-4, 6-3, 6-3.
Daniel Brands maintained Germany's World Group status by sealing victory over Brazil after stepping in as a late replacement after illness to Philipp Kohlschreiber.
Brands, 26, who made his Davis Cup debut in Saturday's doubles, enjoyed a 6-4, 6-2, 6-3 win over Thomasz Bellucci.
In Antwerp, Steve Darcis, the man who knocked Rafael Nadal out of Wimbledon, defeated Amir Weintraub 6-2, 6-2, 6-2 as Belgium secured a World Group place at the expense of Israel.
Ruben Bemelmans had earlier put Belgium back on level terms at 2-2 by beating Israeli number one Dudi Sela 7-5, 3-6, 6-0, 6-4.
Spain, the Netherlands and Switzerland had already tied up victories on Saturday over Ukraine, Austria and Ecuador respectively.