NEW YORK — Serena and Venus gave the crowd exactly what it wanted Monday night — an all-Williams final for the return of women's tennis to Madison Square Garden.

Serena Williams shook off an early challenge from Ana Ivanovic and won 6-3 to reach the Billie Jean King Cup championship after sister Venus advanced with a 6-4 victory over Jelena Jankovic in the one-night exhibition.

Serena Williams rallied from 15-40 down to hold serve in the third game of the set then broke Ivanovic to go up 3-1. She trailed 15-40 in another service game before rallying to take a 5-2 lead.

The players cleared the court after the second semifinal for a tribute to Billie Jean King featuring former President Bill Clinton as tennis returned to the Garden after a nine-year absence.