( CNN ) -- A new movie portraying their rise to the top of the tennis world will debut next month , but the Williams sisters are already giving it their best promotion after setting up their first head-to-head clash since 2009 . Both won two matches at the WTA Family Circle Cup event in Charleston Friday and will meet in the semifinals , with Serena hoping to defend her title and Venus battling to regain her status after longterm health problems . Serena triumphed 6-4 6-2 against fellow American Mallory Burdette in their third-round match , with the world No . 1 setting up a rematch of last year 's final against Czech Lucie Safarova -- which she then won 6-4 6-1 . Her older sibling Venus was already through to the last four , having battled to defeat U.S. 12th seed Varvara Lepchenko 6-2 4-6 6-2 before cruising to a 6-4 6-4 win over 18-year-old compatriot Madison Keys . It will be only the third time they have met on clay , and the first time on the latterly green surface of this South Carolina tournament -- which dates back to the beginning of the WTA Tour in 1973 and is the oldest women 's professional event . `` It was really motivating to see Venus win today -- I figured if she can win two matches , I have no excuse not to win my two matches , '' Serena said . `` Venus is the toughest opponent I 've ever played . I think she 's beaten me the most out of any player . I know her game and she knows my game . `` I know her patterns , she knows mine -- she probably knows mine better than I do . I think it 'll be a great match tomorrow . '' While Serena has bounced back from blood clots on her lungs after a freak foot injury suffered in 2010 , Venus has dropped to 24th in the rankings as she struggles to overcome the autoimmune disease Sjogren 's syndrome . The 32-year-old trails her sister 13-10 in career meetings , and lost their last one at the 2009 end-of-season WTA Championships . `` I 've seen her so many times -- hopefully all the times I 've sat in those stands watching her will give me a little help , '' said Venus , who won the 40-year-old tournament back in 2004 . `` I 'm looking forward to it . Last year in Charleston I fell short and I did n't hold up my end of the bargain and make the semifinals , so I 'm glad I took it a step further this year . '' They were joined in the last four by Jelena Jankovic , who like the Williams sisters has topped the rankings -- but without winning a grand slam . The Serbian ninth seed cruised past 19-year-old world No . 114 Eugenie Bouchard of Canada 6-2 6-1 for the 500th victory of her career . Meanwhile , Novak Djokovic gave Serbia the perfect start to the Davis Cup quarterfinal against the United States as the world 's No . 1 men 's player defeated John Isner in Friday 's opening rubber in Idaho . The big-serving American had hopes of repeating last year 's win over Australian Open champion Djokovic in the ATP event at Indian Wells , but was unable to take advantage of the high-altitude conditions in Boise as he went down 7-6 ( 7-5 ) 6-2 7-5 . Djokovic also prevailed when they met in the first round of the Davis Cup three years ago , as his country went on to win the title for the first time . The Serbians ' hopes of going through to the last four may rest on Viktor Troicki , who was beaten in five sets by American No . 1 Sam Querrey in the second singles rubber after being asked to replace the injured world No . 10 Janko Tipsarevic . Querrey won their 2010 encounter -- a dead rubber as the Serbs had already won through -- and this time came back from 2-1 down to triumph 7-6 ( 7-1 ) 3-6 4-6 6-1 6-4 and level the score . The winner of this tie will next face either Canada or Italy , who were also 1-1 in Vancouver . Andreas Seppi gave Italy an early lead as he came from two sets down against Vasek Pospisil to win 5-7 4-6 6-4 6-3 6-3 in three hours and 15 minutes , but Canadian No . 1 Milos Raonic beat Fabio Fognini 6-4 7-6 ( 7-4 ) 7-5 . Davis Cup titleholder the Czech Republic took a commanding 2-0 lead away to Kazakhstan . With top-ranked Czech Tomas Berdych absent in Astana , world No . 63 Lukas Rosol came from behind to beat Andrey Golubev 4-6 6-4 6-2 7-6 ( 8-6 ) and . No . 94 Jan Hajek crushed Mikhail Kukushkin 6-3 6-2 6-4 . The Czechs can wrap up the best-of-five tie in Saturday 's doubles rubber , which would set up a match with either France or Argentina . That quarterfinal was tied 1-1 after the opening day in Buenos Aires , as world No.8 Jo-Wilfried Tsonga battled to overcome 71st-ranked Carlos Berlocq 4-6 6-2 6-3 5-7 6-2 in the opening match . World No . 19 Juan Monaco , Argentina 's No . 1 in the absence of Juan Martin del Potro , gave his country a lifeline by beating 13th-ranked Gilles Simon 7-6 ( 7-2 ) 6-2 6-4 on the red clay .
Williams sisters will meet in the semifinals of Family Circle Cup in Charleston . Americans will play each other for the first time since 2009 WTA finals . Sam Querrey brings U.S. level at 1 - 1 with Canada in Davis Cup quarterfinal . Defending champion Czech Republic take 2 - 0 lead in Kazakhstan .