Czech Republic beat Serbia 3-2 in the Davis Cup by BNP Paribas final in Belgrade.
Novak keeps the 2010 champion's hopes of a second Davis Cup crown alive with a 6-4, 7-6, 6-2 victory over Tomas Berdych.
Serbia needs both wins over Czech Republic on Sunday to win the second Davis Cup crown.
FRIDAY: 16.00 CET Djokovic (SRB) vs. Stepanek (CZE), followed by Lajovic (SRB) vs. Berdych (CZE)
Serbia will host the Czech Republic in the Davis Cup by BNP Paribas final (November 15-17).
Novak returns to the tennis court four days after the US Open final. The world no.1 takes centre stage in Friday’s opening singles rubber against Vasek Pospisil at 16.00 CET.