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WATCH: Inter Milan Stuns Tottenham to Win With 2 Late Goals

Watch the goals and key plays as Inter Milan and Tottenham square off in Group B play in the UEFA Champions League.

Inter Milan waited six years to return to the Champions League stage, and it made sure its reintroduction was a memorable one.

Mauro Icardi and Matias Vecino scored a pair of late goals, lifting Inter to a 2-1 win over a shellshocked Tottenham in their Group B opener on Tuesday. Christian Eriksen had opened the scoring with a fortuitous deflection, and it appeared Spurs would walk away with all three points. But Icardi's incredible 85th-minute volley was followed in the second minute of stoppage time by Vecino's header off a corner kick, tilting the scales entirely.

Inter is back on the Champions League stage for the first time since 2011-12, and it loaded up in the transfer market this summer with the hopes of returning to past glory. The 2009-10 champions signed the likes of Radja Nainggolan, Stefan de Vrij, Sime Vrsaljko, Lautaro Martinez and Kwadwo Asamoah with hopes of returning to the knockout stage and becoming a European contender again. 

Inter drew a tough group, though, one featuring Barcelona and PSV in addition to a Tottenham side that nearly eliminated Juventus in last season's round of 16. Spurs were shorthanded for this clash, with Hugo Lloris, Dele Alli, Kieran Trippier, Toby Alderweireld and Moussa Sissoko all unavailable.

After their lengthy absence from Europe's top stage, Inter Milan fans were up for the occasion, announcing their return in impressive fashion:

On the field, Inter looked to strike early through Icardi, who was a step offside in trying to sneak in behind for a throughball that would've put him in alone on goal in the third minute.

Tottenham's first chance came 10 minutes later off a set piece, with Eriksen forcing Samir Handanovic into a save on a long-range attempt, one that didn't bother the goalkeeper all that much.

Eriksen had another free-kick chance in the 22nd minute that caused a bit of danger in the Inter box, but Handanovic was able to ultimately claim it without too much trouble, keeping things at 0-0.

On the other end, Michel Vorm, starting in place of Lloris, was called into action because of his own teammate. Davinson Sanchez's wayward header nearly snuck in for an own goal, only for an astute Vorm to make an acrobatic save in the 26th minute.

Eriksen was the danger man again in the 37th minute, putting a perfect ball on Kane's foot as he got in behind the Inter defense in the box. Kane's first touch was heavy, though, and he could never fully control possession as he stumbled behind the end line without getting a shot on frame.

Eriksen, appropriately, opened the scoring for Tottenham in the 53rd minute, though it came in bizarre fashion. His initial low shot was saved well by a diving Handanovic, and his speculative follow-up took a wicked deflection and looped over the goalkeeper and in to make it 1-0 to Spurs.

Vorm was called back into action soon after as Inter pushed for the equalizer, making a diving save going against his momentum to keep Ivan Perisic's header out.

Just when it looked like Tottenham would sneak out of Milan with a win, Icardi struck for an equalizer in sensational fashion. Kwadwo Asamoah's cross from the left looped to Icardi, some 20 yards from goal. With one swift right-footed kick, the Inter captain rifled a pinpoint blast by Vorm, making it 1-1 and sparking celebrations around the San Siro.

Inter wasn't done there, either.  Vecino headed home a 92nd-minute winner off a corner kick, giving Inter all three points and sending Tottenham home with heartbreak after their riveting opener.

Here were the lineups for both sides:

Tottenham's next group match is at home vs. Barcelona, while Inter Milan travels to PSV in Matchday 2 action on Oct. 3.