Tevita Kuridrani’s late try rounded off an impressive Australia comeback, as they overcame South Africa 24-20 in Brisbane.

The try means Australia get their Rugby Championship campaign off to a winning start, but the Wallabies were made to work hard for the duration.

Michael Cheika’s side trailed 20-7 midway through the second period, looking destined to suffer a fifth defeat in their last six matches against the Springboks.

Adam Ashley-Cooper scored his side’s first try in the 34th minute after a set-piece play stretched the South African defence just enough for him to run in the first try of the evening.

Eben Etzebeth responded almost immediately as Handre Pollard’s chip ball into the corner eventually made it’s way over Etzebeth, who made no mistake charging over.

Pollard himself contributed  with 10 points from the boot to give South Africa a commanding lead, one which for almost the entire second half looked impossible to surmount.

The hosts trailed by 13-7 at the break and couldn’t muster another score until the 74th minute, courtesy of Cooper’s boot and Michael Hopper crossed the line to leave Australia within touching distance of a remarkable comeback.

It wasn’t until an after the buzzer try from Kuridrani that the comeback was completed, with the officials deeming his effort just enough to earn Australia a historic victory.

Australia now face a potential banana skin when they travel to Mendoza to face Argentina.