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The pair took South Africa to victory with an unbeaten stand of 87 which was dominated by the clean hitting of Klusener, who was named man of the match and man of the series.
BBC: Win clinches series for SA
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Resuming day three unbeaten on 71, the South African helped Derbyshire add 197 to their overnight 126-3 to declare their second innings closed on 323-6.
BBC: Madsen puts Derbyshire in command
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The 1974 Lions were arguably the best-known and most successful of all time, winning three Tests and drawing one in South Africa and going through the tour unbeaten.
CNN: Who are the British Lions?
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Queensland all-rounder Watson ended the day on 32, while New South Wales wicketkeeper Haddin was unbeaten on 28.
BBC: Australian pair dent Indian hopes
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And it hardly helped when Graeme Smith was dropped on just eight before going on to hit an unbeaten 80 as South Africa closed inexorably on the home team's score with just one wicket down.
BBC: England suffer at Lord's
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Australia have only played South Africa once at the WACA ground, in 2005, when Brad Hodge made an unbeaten double century in the second innings as the match finished in a draw.
BBC: Watson handed recall by Australia
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And Trescothick hit an unbeaten 54 to see his side home with 19 balls to spare to go top of the South Group.
BBC: Marcus Trescothick eases Somerset to win over Glamorgan