LONDON — It’s been a couple years since Madison Brengle made her Wimbledon debut.

But losing to Venus Williams in straight sets made a lasting impression on the 27-year-old from Dover.

So every time Brengle returns to the court at the All England Club, her biggest goal is just to win a game.

“That’s always in my head when I’m out here,” said Brengle. “It’s like, ‘Oh, my goodness, don’t do that ever again!’ That was really tough for me.

“As long as I got on the board to start, then I could relax,” she added, “because, trust me, an ‘O-and-O’ stays with you.”

Facing No. 11 Petra Kvitova on Wednesday, Brengle got that modest goal out of the way quickly by winning the first game against the former two-time Wimbledon champion.

But Brengle didn’t stop there, eventually knocking off Kvitova, 6-3, 1-6, 6-2, to reach the third round of the prestigious Grand Slam event for the first time in her career.

For Brengle, who’s ranked No. 95 in the world, it’s the fourth time since 2015 that she’s reached at least the third round of a Grand Slam event.

After losing the second set, Brengle rallied to win the final four games of the match to notch the victory.

Kvitova is still recovering from being attacked by a knife-wielding intruder at her home six months ago. The left-hander required surgery on her left wrist.

Kvitova appeared to be physically laboring in the 85-degree heat toward the end of the match. A trainer and doctor attended to her before the final game, looking at her wrist and taking her blood pressure.

When the match resumed, Brengle won four of the five points to take the match. Brengle is now 5-24 vs. Top 20 opponents including a victory over Serena Williams earlier this year.

Brengle is 3-1 all-time vs. Kvitova. But this was the first time she had beaten her on grass.

“She hit everything back,” Kvitova said about Brengle. “It was tough for me to still have the energy to put it back and play my game.

“When the match (got) longer and longer, I felt a little bit sick and tired. So I couldn’t really move. I was so slow,” said Kvitova. “I felt like, I don’t know, like an animal. But a very slow animal.”

Kvitova made 50 unforced errors compared to only 16 for Brengle. Kvitova also double-faulted nine times while Brengle had just four double faults.

Brengle won seven of 18 break points.

Brengle next faces 24-year-old Caroline Garcia of France in Friday’s third round. She is 1-2 all-time against Garcia, who is ranked No. 21 in the world.