The 27-year-old, who has been recovering from a knee injury, set up a 4-0 victory over the US when she beat Melanie Oudin 7-5 6-2 in the third singles rubber.
Pennetta has had a busy year. In August she became the only Italian female to have made the top 10 before slipping to 11th. She was also part of the team that stunned holders Russia in a Fed Cup semi-final in April.
Pennetta gave the hosts a strong start on Saturday when she overpowered 20-year-old Alexa Glatch 6-3, 6-1 before teammate Francesca Schiavone beat Oudin.
Pennetta’s participation had been in doubt after she retired with a knee injury at last month’s Kremlin Cup in Moscow.
“It’s a very nice feeling,” Pennetta said.
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