World number two Andy Murray reached his fifth Australian Open final after an epic five-set battle with 13th seed Milos Raonic.

Briton Murray was broken in the first game and his 25-year-old Canadian opponent went on to take the first and third sets.

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But the 28-year-old Scotsman prevailed 4-6 7-5 6-7 (4-7) 6-4 6-2 in a gruelling four-hour contest.

Murray will now meet reigning champion Novak Djokovic in Sunday’s final.

“It was tough in that third set. In the tie-break he didn’t miss a single serve and it is frustrating when you don’t get a say in the points,” said Murray, who has been a runner-up in the competition on four occasions.

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“Over the match, I got a better read on his serve and that was crucial.”

The result means Murray and older sibling Jamie have become the first brothers in the Open era to reach the finals in both the men’s singles and men’s doubles events at a Grand Slam.

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Jamie Murray and Bruno Soares will play Daniel Nestor and Radek Stepanek in the doubles final on Saturday.