Roger Federer, the Wimbledon champion, and Rafael Nadal, the French Open champion, went head-to-head in a match staged on a half-grass, half-clay court in Majorca yesterday. Nadal, unbeaten in 72 matches on clay, defeated Federer, unbeaten in 48 matches on grass, in three tight sets.

What began as an exhibition became a spirited contest as the world’s two best players slugged it out on Nadal’s home island of Mallorca, with the 20-year-old world No 2 eventually beating the No 1 7-5 4-6 7-6 (12/10). Nadal enjoyed the match, even though he had doubted the idea.

"It has been a nice experience," he said. "Although before the match I thought it would be a disaster because I felt it would be very difficult for me to adapt to the court.

"I have had a good time and that is important. Both of us would like to repeat this experience because, although the match was not a real one, it allowed us to play for points without much tension, and to play more relaxed.

"I think the public also enjoyed it and if I was a spectator it would please me to see a game between the number one and two in the world. The match may not have been a real one, but it is interesting and very good to promote tennis."

Each player is the best in the world on his favourite surface. Nadal last week extending his world-record winning streak on clay to 72 matches. In winning his fourth straight Wimbledon crown last summer, Federer racked up a record 48th successive victory on grass.

And neither had defeated the other on his less favoured surface. Nadal won all five clay-court meetings, including the last two French Open finals. Their only grass-court meeting was in last year’s Wimbledon final.

The opening three games in this match went with serve, with Nadal starting by serving from the clay end. Then, despite serving on grass, Federer lost his way to hand Nadal a 3-1 lead.

The Spaniard consolidated the break and came close to a 5-1 lead but Federer recovered from 0-30 down to hold from the clay end. That proved crucial as the Swiss star recovered the break from the clay end before holding on grass to draw level at 4-4. Nadal, however, then broke Federer's serve to take the set.

The world No 1 responded strongly at the start of the second set, immediately breaking Nadal. That edge proved enough for Federer to win the set 6-4 and level the match.

Nadal broke serve in the fourth game of the decider for a 3-1 lead but Federer immediately cancelled the advantage and then held serve to level at 3-3. Neither player was able to force a decisive break and the set went into a tie-break that Nadal edged when he broke at 11-10 for victory.