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.”