It marked a first goal for Modric in a Milan shirt as the Rossonero won 1-0 on the day.
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He later told DAZN: "It's a great celebration, because we won. Now we're focusing on the next games.
"Great assist from (Alexis) Saelemaekers, but everyone did well. We'll improve and get to know each other better."
Teammate Matteo Gabbia also said: "I'm happy for Luka, he showed what a champion he is tonight too.
"But tonight I hugged everyone because everyone sacrificed themselves to bring home the victory. We must continue with this desire and this confidence."