Roger Federer got the better of Serena Williams in their historic clash in the mixed doubles at the Hopman Cup in Perth on Tuesday.

The two tennis greats, who have won 43 Grand Slam singles titles between them, came up against each for the first time in their careers.

Federer partnering Belinda Bencic beat the pairing of Serena and Frances Tiafoe 4-3, 4-2 in the decisive mixed doubles clash.

Earlier, Federer had beaten Tiafoe 6-4, 6-1 in the men's singles, while Serena overcame a slow start to defeat Belinda Bencic 4-6, 6-4, 6-3.