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Rookie Brandon Jennings scored 21 of his 24 points in the second half, Hakim Warrick came off the bench to add 21 points and the Milwaukee Bucks won their home opener with a 96-85 victory over the Detroit Pistons on Saturday night.

Tayshun Prince’s 11-foot jumper from the baseline pulled the Pistons to 81-77 with 5:51 to play, but Warrick made two free throws and Jennings hit a runner in the lane as the Bucks went up by eight.

Playing with five fouls over the final three minutes, Jennings darted through the Pistons’ defense and kept the Bucks from failing down the stretch.

Jennings left to a standing ovation when Bucks coach Scott Skiles took him out of the game.

Ben Gordon scored 26, Rodney Stuckey 13 and Prince 12 for Detroit.