(CNN) โ€”ย Jalen Brunson scored 41 points to help his New York Knicks beat theย Philadelphia 76ersย 118-115 in Game 6 of their first-round playoff series on Thursday and clinch a 4-2 best-of-seven victory.

Brunson had 14 of his 41 points in the fourth quarter while also adding 12 assists in a hotly-contested game at the 76ersโ€™ Wells Fargo Center.

His final assist went to Josh Hart who drilled the game winning three-pointer with 24.4 seconds remaining, stunning the Philadelphia fans in attendance and sending New York to the next round.

It brings to an end a fiery series played out over six hard-fought games, encounters filled with angst which left players with bumps and bruises.

โ€œWe knew this wasnโ€™t going to be easy, even with the lead that we had,โ€ Brunson told TNT after the game. โ€œWe tried to play with the lead, but we knew they were going to keep fighting.

โ€œEvery game has been like this. Itโ€™s not how you start, it just matters how you finish it.โ€

Brunson shot 13-for-27 from the field as well as 12-for-16 at the free-throw line in Game 6. In total, it was his third straight 40-plus-point game as he built upon his excellent regular season in New York.

Donte DiVincenzo added 23 points, while Hart finished with 16 points and a game-high 14 rebounds.

Josh Hart scores the game-winning three-pointer against the 76ers. Credit: Bill Streicher / USA TODAY via CNN Newsource

The 76ers were unable to find the winning touch at the crunch moments against a rugged Knicks team, despite Joel Embiid pouring in 39 points in the losing effort.

Embiid has soldiered through his own ailments, first a knee injury which took him out for a good chunk of the regular season and then he revealed he had beenย diagnosed with Bellโ€™s palsy.

But despite this, Embiid was close to his dominant best and almost helped force a Game 7.

โ€œI thought [Embiid] was tremendous tonight,โ€ 76ers coach Nick Nurse said afterwards. โ€œHe had a lot of things going on. He fought through a lot of adversity.โ€

Nurse added: โ€œI give both teams a lot of credit for how they fought and how they played. I give them a lot of credit for hitting a big [three-pointer].

โ€œThe series could have went the exact opposite than it did, but it didnโ€™t, so congratulations to them for finishing on a positive side.โ€

The 76ers advance to face the No. 6 seed Indiana Pacers in the Eastern Conference semifinals.

On Thursday, the Pacers won their Game 6 of their first-round playoff series against the Milwaukee Bucks with a 4-2 best-of-seven victory.

Game 1 of the Knicks-Pacers series will begin on Monday in New York.