James Harden and Russell Westbrook came back to haunt their old side the Oklahoma City Thunder as the Houston Rockets snuck into the NBA Western Conference semi-finals.

Tied at 3-3 in the best-of-seven series, the sides matched up in a decider on Wednesday night with a match-up against the Los Angeles Lakers at stake.

Westbrook scored 20 points and Harden 17, with the latter blocking a Luguentz Dort three-point attempt with 4.8 seconds left to keep the Rockets in front.

Robert Covington made a free throw with 1.4 seconds left to put his side up 104-102, Danilo Gallinari missed a free throw attempt and a PJ Tucker steal secured the game and series.

Meanwhile, the Miami Heat have stolen a march on the Milwaukee Bucks with a 116-114 win putting the Florida side up 2-0 in their series.

The Bucks came into the play-offs with the best regular season record and Khris Middleton drew the game level with 4.3 seconds left by hitting three free throws.

But a shooting foul from Giannis Antetokounmpo as time expired saw Jimmy Butler head to the line and sink two throws for the win.

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