US Open runner-up Novak Djokovic of Serbia will play Radek Stepanek of the Czech Republic in the opening singles of their Davis Cup semifinal.

Djokovic only returned to the Serbian capital from New York on Wednesday and acknowledged being "emotionally and physically" drained after his final loss to Rafael Nadal.

"It's not the easiest thing to deal with, but I don't have time to think about it," Djokovic said after Thursday's draw.

"I am confident I'll be ready, I've been in this situation before."

In Friday's second singles on the indoor hard court of the Belgrade Arena, Janko Tipsarevic of Serbia will play Wimbledon runner-up Tomas Berdych.

Stepanek was once in the Top 10, but has fallen to No 35 and has been battling a left-knee injury for much of the year.

"Definitely I am ready, otherwise I would not be on board," Stepanek said. "The matches I played with Novak were close and great battles and I don't expect anything else on Friday.

"He is back at No 2 in the world and he's regained his confidence. But I also believe in myself."

Djokovic has a 5-1 career record against Stepanek.

"We've played a lot against each other on the tour but the Davis Cup is a different occasion," said Djokovic, who is seeking to lead Serbia into its first Davis Cup final. "He is very experienced in the competition, he has a lot of variety to his game. He can attack and he can be defensive."

Berdych hopes to celebrate his 25th birthday on Friday by earning a point for the Czech Republic, which is seeking to reach back-to-back finals of the competition for the first time.

In the other semifinal, France plays Argentina.