Kansas City, Mo. ? Joe Panik hit an RBI single with two outs in the 11th inning, and the San Francisco Giants beat the Kansas City Royals 2-1 on Tuesday night to begin their two-game interleague set.

Nick Hundley doubled off Scott Alexander (0-1), the Royals’ fifth reliever of the night, before Panik’s sharp liner dropped in front of center fielder Lorenzo Cain to score the go-ahead run.

Derek Law (1-0) pitched two scoreless innings of relief for San Francisco, and Mark Melancon struck out Raul Mondesi with runners on first and second in the 11th for his third save of the year.

The Giants, back at Kauffman Stadium for the first time since their 2014 World Series triumph, were without manager Bruce Bochy, who underwent a minor procedure to correct his heart rhythm.

Bochy is expected to return to the team Friday at Colorado.

The Royals had several chances to end the game earlier, leaving the bases loaded in the eighth, two aboard in the ninth and two more on base when Eric Hosmer grounded into a double play in the 10th.

San Francisco also left two runners aboard in the 10th when Buster Posey, fresh off the seven-day concussion list, struck out. Posey already had three hits on the night.

The Giants’ Matt Cain and the Royals’ Jason Hammel waged a nip-and-tuck duel of starters, each taking advantage of double plays and nifty defense to escape sticky situations.

Cain left two aboard in the first, and also stranded runners in the second and fourth, before he threw a mistake that Whit Merrifield deposited into the right-field seats. Cain walked the next batter, but set down the next seven to leave after seven innings with the game knotted at 1.