PRAGUE—The United States, fielding an experimental lineup in its first match since the World Cup, survived a late scare to defeat the Czech Republic 1-0 on a first-half goal by Alejandro Bedoya. It was the team’s third victory in Europe under Jurgen Klinsmann.

Showing flashes of the “proactive” soccer so often talked about by their German coach, the Americans combined well through midfield in the first half as Bedoya, Joe Corona, and Mix Diskerud took turns pulling the strings. They got all they needed in the 39th minute thanks to fine work by Diskerud to win the ball at midfield and burst into the penalty area, his blocked shot falling to Bedoya for an easy finish.

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With Joe Gyau impressing in his U.S. debut, the Americans looked to be in charge only for their shape to fall apart midway through the second half after a flurry of substitutions, including another first cap from Emerson Hyndman, the 18-year-old Fulham star.

Nick Rimando, who took over at the half for Brad Guzan, stood tall late to save the victory as the Czechs threw men forward in their last warm-up match before kicking off Euro 2016 qualification next week against the Netherlands. After wins in Italy and Bosnia, Klinsmann & Co. now count the Czech Republic as their latest European victim.