Joe Salisbury earned victory over Jamie Murray as the only two Britons involved in the ATP Finals went head-to-head in their opening doubles group match.

Salisbury and American partner Rajeev Ram won 6-1 7-6 (7-5) against Murray and Brazil's Bruno Soares in Turin.

US Open champions Salisbury and Ram are second seeds at the year-ending finals.

In the singles, Novak Djokovic won his opening match against Norwegian debutant Casper Ruud as he aims for a record-equalling sixth title.

Serbian top seed Djokovic, who has not won the event since 2015, recovered from losing serve in the first game to win 7-6 (7-4) 6-2.