The 22-time grand slam winner surrendered a first-set lead before going down 3-6 6-3 6-4 against the world No.14, who secured his first victory in five meetings.

Norrie, who became only the second Briton after Andy Murray to beat the Spaniard, set the tone for his team, with Katie Dart also coming from behind to deny Nuria Parrizas Diaz 3-6 6-1 6-2 later on.

Meanwhile, Germany's Alexander Zverev lost in straight sets on his return to ATP action, going down 6-4 6-2 to Jiri Lehecka of Czech Republic, who went 2-0 up in the tie after Marie Bouzkova defeated Jule Niemeier 6-2 7-5.

World No.1 Iga Swiatek got Poland off to a flying start against Kazakhstan in Brisbane with a commanding 6-1 6-3 victory over Yulia Putintseva, but defeat for Daniel Michalski against Timofey Skatov leaves the Group B tie finely poised.

Brazil enjoyed a flawless start against Norway in Group E. Beatriz Haddad Maia was a 6-4 6-2 winner over Malene Helgo, and Felipe Meligeni Alves overcame Viktor Durasovic 6-3 6-3.

The spoils were shared between Belgium and Bulgaria in Group A with Alison van Uytvanck beating Isabella Shinikova, before David Goffin was seen off by Grigor Dimitrov 6-4 7-5.

Croatia closed the day with a pair of victories against Argentina in Group F as Donna Vekic and Borna Coric defeated Maria Carle and Francisco Cerundolo respectively.