SAN ANTONIO — Dirk Nowitzki scored 31 points and the Dallas Mavericks won a playoff series for the first time since 2006, eliminating the San Antonio Spurs in five games with a 106-93 victory Tuesday night.

It is the first time San Antonio has lost in the opening round since 2000, one year after the Spurs won their first of four NBA titles. San Antonio was the third seed, but throughout the series it was Dallas that clearly looked like the higher-slotted team.

The Mavericks advance to the Western Conference semifinals to play either Denver or New Orleans. The Nuggets lead that series 3-1 and can finish off the Hornets on Wednesday at Denver.

Tim Duncan had 30 and Tony Parker had 26 but once again got little help — the story of the series for the two-dimensional Spurs.