Eriksen put the visitors ahead on 53rd minute but Icardi pulled level late in the 86th minute from a sublime assist delivered by Asamoah.
Asamoah raced down the left wing and sent in a teeing cross which was thumped in by Icardi, with Matias Vecino grabbing the match winner in additional time.
“The goal…here is how it happened. It was a ball from behind, [Kwadwo] Asamoah saw me and put in a fantastic ball and it all ended well," Icardi told Sky Sports TV.
“It was a spectacular night and it was what we had to do. We have a strong team, we can play against anyone. We had been waiting for this match for three months, starting like this gives us a lot of confidence and an added incentive to do better in the league.
Asamoah, who arrived at Inter from Serie A champions Juventus in a three-year deal last summer, lasted the entire duration and is expected to maintain his place next weekend against Sampdoria. Read Full Story
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