The two sides are separated by 7 points in the league table however visitors Inter Milan will come into this match full of confidence having beaten Roma in their last outing. Hernanes opened up the scoring with a fine strike in the 15th minute which was cancelled out by a goal from Nainggolan just after the hour mark.
The game was heading for a draw until Icardi scored in the dying moments to hand Inter and Mancini a very important win.
Despite the fact that the Nerazzurri have underachieved Mancini has insisted that he is happy with his team's performances and is hopeful his side can continue their good form and earn a European place by the end of the season.
"We're not quite at the level where we can say we've cracked it but I think the team has improved week by week, even when results weren't going our way," the former Manchester City boss said.
"We are limited in certain areas and we still make mistakes but there's been a clear improvement and we can now say we've become a team.
"Now we have to keep working in this direction. The squad is united and full of good lads and consummate professionals.
"A win doesn't change anything, even though Roma are a great side. Our target is get back to the top because Inter always have to aim to be up there.
"We have a clear idea of how we want to play. The personnel and formation might change but you always have to go out there looking to win. We went all out for it against Roma.
"Unfortunately, whether we qualify for Europe or not is out of our hands, but we have to give our all to try and win our remaining games and hope one of the sides above us falters."
Udinese's win over AC Milan on the other hand moved them 14 points clear of the relegation zone and with six games left to play Stramaccioni's men will be confident of a stay in the top flight. The victory brought an end to Udinese's six match run without a win and they will be hopeful they can condemn another Milan side to a defeat.
The home side will be able to make use of the services of Bruno Fernandes who returns from suspension however Heurtaux and Molla Wague (both thigh) will remain on the sidelines. Gary Medel will be available for selection having served suspension but Inter will be without Hugo Campagnaro (calf), Dodo and Jonathan (both knee).
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