World No. 1 Serena Williams defeated Caroline Wozniaki in three sets, 4-6, 7-5, 7-5 to advance into the semifinal round and set up a match against sister Venus at the Rogers Cup in Canada on Friday.

The 17-time Grand Slam champion had a very tough time against the 24-year-old Wozniaki, committing unforced errors to drop the first set.

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In the second set, Williams bounced back, seeing an opening to break Wozniaki to level the match. Williams capitalized on her serves in the deciding set and came away with the victory.

Despite the loss, Wozniaki was happy with the results. "It was really the small things that did it out there today," she said.

"It could have gone both ways. It just wasn't quite enough," Wozniaki added.

Venus Williams also had a stellar three-set match against 14th-seed Carla Suarez Navarro losing the first set but quickly recovered in the succeeding sets 4-6, 6-2, 6-3 with the help of her powerful serves.

The Williams' sisters will now face each other for the 25th time at the semis with Serena winning the last five matchups at 14-10.

They last faced each other in the semifinals of the Family Circle Cup in Charleston, North Carolina and their last Grand Slam match was at the finals of Wimbledon in 2009.

"I definitely don't like playing with her," Serena said.

"She does everything well so it's not an ideal matchup for anyone, to be honest," Serena added.

TagsVenus Williams, Caroline Wozniaki, wimbledon, tennis, Rogers Cup