John McEnroe's side entered the final day of the three-day event in London trailing four-time champions Team Europe 4-8.
Roger's career has been a rollercoaster of a ride. He has been at the pinnacle of success and also experienced many downfalls that tested his resilience and determination to get back up.
The tennis legend said that the last 24 years on tour have been an incredible adventure for him.
The 37-year-old eight-time champion won 7-6 (7/3), 1-6, 6-3, 6-4 in the pair's 40th career meeting to move into his 31st Grand Slam final where he will face defending champion Novak Djokovic.
Although the odds are in Roger's favour this time around, Rafa has still the passion and desire in him to beat him.
With his 100th match victory at the Wimbledon, the most he has recorded at any of the four Grand Slam tournaments, 37-year-old Federer set up the dream contest once more against Nadal that fans have been waiting for ever since the draw was unveiled.
If it does happen, it will be their first at the All England Club since 2008 when Nadal triumphed in what is widely regarded as the greatest final ever played at the tournament.
Following the traditional Sunday rest day, Nadal returned to the central court to show off how speedy his legs were and how effective his service was.