HAMBURG, Germany (AFP) - Rafael Nadal will renew his epic rivalry with Roger Federer in the Hamburg Masters final on Sunday after clinching a pulsating 7-5, 2-6, 6-2 win over Novak Djokovic on Saturday.

Sunday's final will be the 16th time the world's top two have met, but the Swiss star has only beaten the Spaniard once on clay. In last year's final here, he bounced back from losing the first set to win 2-6, 6-2, 6-0.

"I am looking forward to playing in Roger's home," quipped Nadal after Federer had earlier picked up his 22nd straight win in Hamburg to reach Sunday's final.

"He has won here four times and it is best clay court venue, he loves it here, it will be a very tough match.

"Roger played a little over an hour of tennis today, while I played more than three, I just have to make sure I am 100 percent ready, because that is the level you have to reach to beat Roger."

Federer reached the final with a comfortable 6-3, 6-1 win over Italian journeyman Andreas Seppi.

Nadal has now only lost twice on clay in four years - in last year's final and in Rome last week to compatriot Juan Carlos Ferrero when he was plagued by blisters.

The last of Nadal's seven wins over Federer on clay came last month in Monte Carlo when the world number one went down 7-5, 7-5.

In Saturday's semi-final, with not only a place in Sunday's final at stake, but the world number two ranking behind Federer up for grabs, this was a titanic tussle between Nadal and Australian Open champion Djokovic, who won the Rome title last week.

"It was one of the best matches I have played, maybe the best I have ever played in on clay," said Djokovic.

"I just want to take the positive things out of it. Nadal is the best defensive player in the history of the sport."

Djokovic has never beaten Nadal on clay in their three previous meetings on the surface, but he romped into a 3-0 lead in the first set and was a point away from extending the gap until Nadal responded.

The Spaniard fought back brilliantly with plenty of aggression to take the first set 7-5.

Djokovic rallied to take the second set 6-2 having powered his way into a 4-2 lead with some superb forehands.

Nadal dug deep to seize a 5-2 lead in the third set but needed five match points before he took the decider 6-2 after three hours and two minutes.

"It was special game, because he played a very good game, he has improved incredibly and is getting better," said Nadal.

"He's going to be world number one within a few years, he's very good and very young."

Federer booked his place in the final for the fifth time in his career after seeing off Seppi, the world number 43 and who had reached the last four of a Masters Series for the first time.

The Italian had his chances, but Federer never allowed him to settle and he broke his opponent's serve for the third and final time in the second set to claim the win in 79 minutes.

"It was quite a long first set and I created a lot of opportunities which wore him down for the second," said Federer on a soggy day in Hamburg where the stadium roof was closed due to persistent rain.

Having broken Nadal's 81-match claycourt winning streak last year, Federer said he was relishing the final having not dropped a set here so far.

He said: "I came here last year having just split with my coach and coming from Rome, I wasn't happy with my mental approach.

"I was really aggressive on my back-hand in the final, but it was a good hard match and I am sure tomorrow (Sunday) will again be good preparation for Roland Garros."