It was the first time the event was held in London, and it coincided with tennis matches taking place in Hong Kong and New York.
More than 5,000 attendees were present to see former number one and eight-time Grand Slam champion Agassi take on his rival and seven-time Wimbledon winner Sampras. The two Americans played each other 34 times during their professional careers, with Sampras winning 20 of those matches.
Pat Cash, 1987 Wimbledon champion, also faced off to Ivan Lendl, the former world number one.
The event also consisted of a media conference in the morning, as well as 30-minute long clinic sessions with the tennis professionals, which saw celebrities Jonathan Ross and Julia Bradbury take part.
Ahead of the two professional tennis matches, celebrity guests and representatives from the International Tennis Federation (ITF) were invited to enjoy pre-event hospitality.
During the main event, guests were treated to an exhibition of cardio tennis and wheelchair tennis matches.
A presentation was made by US-based museum the International Tennis Hall of Fame, which recognised the work of Agassi, Sampras and Lendl, as well as inducting tennis commentator John Barrett.
Suppliers to the event included Unusual Rigging, Arena Seating, caterer Levy Restaurants, Seetickets and Stubhub.
World Tennis Day was launched by the ITF and sport marketing and entertainment company Stargames in March 2013, with the aim of promoting the sport and increasing participation among young players around the world.
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