Defoe received a pass from Bradley Orr before advancing to the edge of the area and then unleashing an unstoppable shot into the top right corner.
The goal came in the wake of Defoe's non-selection for the England national team and Nelsen was happy to see the talented marksman respond in a positive manner.
"That's exactly how I thought he would react," Nelsen said. "A brilliant goal, wasn't it?
"That's Jermain Defoe. And that's why England will miss him dearly, I think, come World Cup time."
On the opposite end of the result was Red Bulls striker and Arsenal great Thierry Henry who saw Defoe score a multitude of goals over his career when he was in England.
"Jermain Defoe has been doing this since he was 14 years old and as long as he plays he will do that," added the Frenchman.
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