With Roger Federer watching on from courtside at a sold out O2 Arena, the day after his emotional farewell match alongside Rafa Nadal, Djokovic returned to action in spellbinding fashion.
U.S. Open semi-finalist Tiafoe was helpless to stop the Djokovic onslaught as the Serb won 6-1 6-3 to put Bjorn Borg's Team Europe into a 6-4 lead overall.
Register now for FREE unlimited access to Reuters.com RegisterFormer world number one Djokovic was due back on court later to partner Italian Matteo Berrettini in a doubles against Team World pairing Jack Sock and Alex De Minaur.
At one point Federer suggested world number eight should serve and volley, which Norrie promptly did but lost the point as Fritz sent a lob over his head.
"If Roger Federer is telling you to do something, there is no chance I'm not going to do it, especially out there playing for Team Europe," Norrie said later.