Nick Kyrgios prevailed in a thrilling, topsy-turvy encounter with Steve Darcis to level Australia's Davis Cup semi-final with Belgium at 1-1 after the first day of action.

Earlier on Friday, Kyrgios' team-mate John Millman threatened a shock when he took the first set off David Goffin, but the world number 12 responded to clinch a 6-7 (4-7) 6-4 6-3 7-5 win and give the hosts the lead.

And so it was left to Kyrgios, amid a raucous atmosphere in Brussels, to ensure Australia did not head into Saturday's doubles 2-0 down with three to play.

After an engrossing back-and-forth clash, Kyrgios eventually triumphed 6-3 3-6 6-7 (5-7) 6-1 6-2 to leave the tie tantalisingly poised.

Having taken the first set, Kyrgios was broken at the start of the second and although he saved three set points in game nine, the Australian netted a forehand, allowing Darcis to level.

Darcis came under severe pressure in the third, surviving five break points in game four before a 4-0 lead in the tie-break allowed him to move within one set of giving Belgium a crucial 2-0 lead in the tie.

Undeterred, Kyrgios produced a thumping forehand winner from the first point of the fourth, which set him up for the first of three breaks as Darcis wilted.

A huge net cord at break point down went the way of Kyrgios at the start of the decider and, perhaps sensing it was his day, the Australian showcased his talent - encapsulated with a double-handed backhand winner with both feet off the floor en route to a gutsy victory.

In the other last-four clash, France and Serbia are also locked at 1-1 after respective wins for Jo-Wilfried Tsonga and Dusan Lajovic.

Beaten semi-finalists last year, France were dealt an early blow as Lajovic shocked world number 22 Lucas Pouille 6-1 3-6 7-6 (9-7) 7-6 (7-5).

Pouille staved off five match points in the fourth set but ultimately succumbed before Tsonga levelled matters in routine fashion, seeing off Laslo Djere 7-6 (7-2) 6-3 6-3.

Saturday's doubles action sees Belgium's Ruben Bemelmans and Arthur de Greef take on Australia's John Peers and Jordan Thompson while in the other tie, the French duo of Pierre-Hugues Herbert and Nicolas Mahut face Filip Krajinovic and Nenad Zimonjic.