Tipsarevic, who this week reached his highest ranking of No. 8, faced a match point at 5-6 and two more at 6-7 in the fifth set but served well to remain in the match and prevail in more than five hours.
Earlier, Tomas Berdych eased past Viktor Troicki 6-2, 6-1, 6-2 to give the Czech Republic a 1-0 lead after the opening singles on an indoor clay court at the O2 Arena.
The doubles match is scheduled for Saturday while reverse singles will be played on Sunday.
Serbia, seeking a third straight semifinal, is without top-ranked Novak Djokovic.
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