Milan, Italy (SportsNetwork.com) - Mauro Icardi's goal in the 88th minute helped Inter Milan to a 2-1 win over third-place Roma at the San Siro on Saturday, lifting the Nerazzurri into seventh place.

Hernanes handed Inter the lead in the 15th minute, while his opener was canceled out by Roma's Radja Nainggolan in the 63rd.

Icardi missed a good chance in the 84th to put Inter ahead, but he made the most of his second opportunity to keep Inter's Europa League hopes alive.

Roma, meanwhile, could see its lead over fourth-place Napoli reduced to two points on Sunday if Rafael Benitez's men win at home against Sampdoria.

Inter managed to take the lead in the 15th minute with its first real chance of the contest as Hernanes took a pass at the top of the box and created enough space to drive a left-footed shot inside the right post.

Roma attempted to answer a few minutes later when a pass inside the penalty area was blocked into the path of Victor Ibarbo, but his shot struck the post.

The visitors equalized in the 63rd when Miralem Pjanic darted toward goal and laid a pass off on the right for Nainggolan to hammer first-time inside the far post.

Icardi created a great chance for himself in the 84th when he cut back past two defenders and lashed a shot over the net from 14 yards.

However, he atoned for the miss in the 88th when he turned with the ball past a defender after taking a pass from Lukas Podolski and drove a low shot past goalkeeper Morgan De Sanctis.

Saturday's other match saw Udinese hold off AC Milan, 2-1, to deal another blow to the Rossoneri's European hopes.

Giampiero Pinzi scored in the 58th minute to put Udinese in front, and Emmanuel Agyemang-Badu doubled the advantage 15 minutes from time. Giampaolo Pazzini scored in the 88th for Milan, but it wasn't enough to prevent the team from suffering its first loss in five games.