Kawhi Leonard had 27 points and 17 rebounds to lead the Toronto Raptors into the NBA Finals for the first time with a 100-94 victory over the Milwaukee Bucks on Saturday night.

The Raptors overcame a 15-point deficit to win the series in six games and will host the Golden State Warriors in Game 1 of the NBA Finals on Thursday night.

It will be the two-time defending champions against a Raptors team that will finally bring the NBA Finals outside the U.S. after entering the league in 1995.

Pascal Siakam scored 18 points, Kyle Lowry had 17 and Fred VanVleet 14 for the Raptors, who used a 26-3 run late in the third quarter and early in the fourth to turn the game in their favor.

Lowry held the game ball and picked up his children after the game, finally getting to the championship round after the Raptors kept falling short against Cleveland.

They needed something more to get further, and they found it the acquisition of Leonard, the 2014 NBA Finals MVP who was acquired from San Antonio and carried the Raptors in this postseason.

"He's the best player in the league and we're happy he's in Toronto," Raptors President Masai Ujiri said.

Giannis Antetokounmpo had 21 points and 11 rebounds for the Bucks, but the NBA's top team in the regular season saw its bid for a first finals berth in 45 years come to a disappointing end with a fourth consecutive defeat.

Down 76-71 to start the fourth, the Raptors tied it with an 8-2 run while Leonard and Antetokounmpo were both on the bench. Ibaka's dunk with 10:32 to go tied it at 78.

Antetokounmpo returned after a timeout, but Leonard kept sitting. That didn't matter to Toronto, with Siakam's basket giving the Raptors an 80-78 lead, their first lead since it was 6-3.

Leonard's one-handed slam after Lowry's steal gave Toronto an 87-79 lead with 6:46 to go before the Bucks responded. George Hill answered with a layup, Brook Lopez converted a three-point play and Antetokounmpo scored to cut it to 87-86 with 5:19 to go.

Lowry and Lopez swapped baskets before Gasol's 3 put the Raptors up 92-88 with 3:50 left. After another basket by Lopez, Leonard made a 3 to push Toronto's lead to 95-90 with 3:04 to play. It was Leonard's first 3 after missing his first seven attempts of the game.

Toronto made 12 of 27 3-point attempts, including four of eight in the fourth quarter.

Siakam, who missed a pair of free throws late in the fourth quarter of Toronto's double-overtime win in Game 3, hit one to make it 98-94. Leonard grabbed the rebound on the second and was fouled. He made both, putting the Raptors up 100-94 with 3.9 seconds to go.