AP photo by Matt Slocum / Houston second baseman Jose Altuve, right, and pitcher Justin Verlander celebrate after the Astros won Game 6 of the AL Championship Series against the New York Yankees on Saturday night in Texas. The Astros prevailed 6-4 on Altuve's two-run homer with two outs in the ninth inning to close out the best-of-seven series.

HOUSTON — Jose Altuve, the 5-foot-6 driving force of the Houston Astros, delivered a swing that will play in team highlights forever.

Altuve homered off Aroldis Chapman with two outs in the ninth inning as Houston outlasted the New York Yankees for a 6-4 win Saturday night in Game 6 of the American League Championship Series to advance to the World Series for the second time in three years.

"That's one of the best moments of postseason history," Astros general manager Jeff Luhnow said.

In a best-of-seven series that had its schedule shuffled when Game 4 was moved back a day because of rain, both teams relied on their bullpens in Houston while playing for a third straight day, with the previous two games in New York. There was drama late even before Altuve's decisive swing as the Yankees' DJ LeMahieu hit a tying, two-run shot off Astros closer Roberto Osuna in the top of the ninth.

Altuve answered with a two-run drive to left-center field, setting off a wild celebration at Minute Maid Park and locking up the ALCS MVP honor.

"Beautiful game," Altuve said.

Astros ace Gerrit Cole had been waiting to pitch a potential Game 7 on Sunday. Instead, the postseason star — undefeated since May 22 — can be lined up for Game 1 of the World Series at home against the National League champions on Tuesday night. The Washington Nationals have not played since completing a sweep of the St. Louis Cardinals this past Tuesday.

Yuli Gurriel hit a three-run homer in the first inning, and flashy outfield defense helped Houston's relievers defeat the Yankees and their vaunted bullpen.

It almost fell apart in the ninth. Gio Urshela singled off Osuna leading off for his third hit of the game, and LeMahieu put a ball into the first row of seats in right field — inches over the glove of leaping George Springer — to tie it at 4.

Altuve, a sparkplug touted as Houston's heart and soul, didn't let this one get away.

"I get asked to describe Jose Altuve all the time," manager AJ Hinch said. "I think MVP is what he is."

The teams combined to use 14 pitchers in a drawn-out game that lasted 4 hours, 9 minutes.

Houston's Will Harris, who got four outs over the sixth and seventh innings and has yet to allow a run this postseason, was glad Houston's bullpen got to show its stuff.

"We have a lot of guys with a lot of pride that are really good at their jobs," he said. "And I was excited for the opportunity for us to prove that today."

The defense helped. Right fielder Josh Reddick dived for Brett Gardner's liner for the second out of the sixth. An inning later, left fielder Michael Brantley laid out for Aaron Hicks' shallow floater and doubled off Aaron Judge at first.

Gurriel, a holdover from Houston's 2017 championship team, was 1-for-20 to start the ALCS before his drive in the first inning. He jumped all over a high-and-tight fastball from Chad Green, hitting his first homer this postseason.

It's the third time Houston has eliminated New York in the past five postseasons. The Astros won the 2015 AL wild-card game in the Bronx and beat the Yankees in seven games in the 2017 ALCS before winning their first title.

"I feel like we are on equal footing with them," Yankees manager Aaron Boone said. "Unfortunately, sports can be a little bit cruel for the team that goes home."

Washington is seeking its first championship in the 51-season history of the franchise that began as the Montreal Expos. The original Washington Senators won their only championship for the nation's capital in 1924 and last reached the World Series in 1933 before becoming the Minnesota Twins for the 1961 season.

Gary Sánchez had an RBI single in the second and Urshela homered in the fourth for the Yankees.

Alex Bregman gave the Astros an insurance run with an RBI on a forceout in the sixth inning.

Brantley's double play elicited one of the loudest ovations of the night from the sellout crowd of 43,357 that included former Astros stars Craig Biggio and Nolan Ryan, both Hall of Famers, and NBA stars James Harden and Russell Westbrook of the Houston Rockets, with the basketball duo watching from the front row in personalized orange Astros jerseys.

New York was 1-for-6 with runners in scoring position and 3-for-24 over the final five games of the ALCS. The franchise lost its fourth straight series with the pennant at stake, also falling in 2010, 2012 and 2017. The Yankees will go without a World Series appearance in a calendar decade for the first time since the 1910s.

"The work never ends," Boone said. "And we'll continue to try and I guess close that gap."

Altuve doubled off Green with one out in the first inning, and Bregman drew a walk with two outs. After a short visit to the mound, Gurriel knocked the next pitch into the seats in left field for a 3-0 lead. The runs were Houston's first with two outs in the series.

Houston had been 4-for-40 with runners in scoring position before that big swing.

Houston's Brad Peacock, who threw eight pitches in a scoreless eighth inning Friday night in the Bronx, became the fourth pitcher ever to finish a postseason game and then start the next day, and the first since 1924.

He needed seven pitches to retire the side in the first before running into trouble with two outs in the second. Josh James ended the inning by striking out Gardner.

Ryan Pressly had another gutsy escape, too. He hurt his right knee again fielding a bases-loaded grounder by Didi Gregorius but limped over to tag him for the final out of the third. Pressly, who grimaced as he went toward the dugout after one pitch, had arthroscopic surgery on the same knee on Aug. 22 and returned Sept. 20. Pressly also got two strikeouts with the bases loaded in Game 4.

He said that some scar tissue broke off on the play but that he'll be ready to go this week.

"It's the World Series," Hinch said. "It will be all hands on deck."