The Bulldogs upset the defending champion Warhawks in overtime in the 6A North region semifinals. (Taylor Brown for Synthesis/Koubaroulis LLC./The Washington Post)

Westfield’s Meghan Heick and Molly O’Sullivan knew history wasn’t on their team’s side when they stepped on Madison’s field for their 6A North region semifinal Wednesday night.

They were both in middle school the last time the Bulldogs had beaten the Warhawks, and Madison hadn’t lost a game to a Northern Virginia public school team since 2012.

“We always know Madison. They’re always a big player,” Heick said. “We kind of dread this game.”

The defending state champions even wore red warmups with the words “Arrive Violently” emblazoned on the back before Wednesday’s game, but Heick and O’Sullivan refused to be intimidated.

It was “surreal,” according to Heick, to play in a driving rain against their rivals deep in the postseason.

The Virginia-bound Heick finished with six goals and O’Sullivan scored the winner in overtime as Westfield defeated Madison, 17-16, in a thriller in Vienna.

Westfield advances to the 6A North region final Friday against Oakton, which outlasted Robinson, 14-11, in overtime in the other semifinal on a wild Wednesday night of lacrosse.

“We really needed a goal,” said O’Sullivan, who finished with four goals. “They were scoring every time they got it down the field. We needed to get up.”

It had been nearly two months since Madison (15-2) pulled out a 16-15 win over Westfield (16-1) during an early-season tournament, and with a 6A state tournament berth on the line, the rematch lived up to its billing.

The first half featured six lead changes, and Madison appeared to be in control midway in the first half after taking a 7-5 lead on a goal from senior Alex Condon. But even after the Bulldogs went down a player because of a penalty late in the half, Heick took over with three goals in a one-minute span to help her team take a 9-8 advantage at the half.

Westfield extended its lead to 13-9 seven minutes into the second half.

But Madison responded with four consecutive goals to tie the game — including three from Katie Kerrigan, who finished with six.

The Warhawks took their first lead of the second half with about three minutes remaining on an Ellie Bentley goal.

The conditions only worsened from that point as heavy rain rolled in, but O’Sullivan and her teammates embraced the downpour, which made their comeback bid “more exciting,” she said.

The senior muscled her way to the tying goal with 40 seconds left in regulation to send the game to overtime.

That set up her winner in the opening seconds of the second overtime.

Westfield had planned to hold the ball and milk the clock for the entire overtime period, she said, but the Bulldogs needed the go-ahead score first. It was Heick who won the draw and sparked the deciding play.

“We decided this was our game,” Heick said. “You can’t really pay attention to their past. You just have to look to the future.

In the other region semifinal, Robinson jumped to a 7-2 first-half lead against Oakton.

Yet the Cougars rallied, and did so quickly.

Oakton, which won the 2012 Virginia state championship, pulled to within 7-6 at the half, and the two teams battled back and forth for the duration of regulation and into overtime. From there, the Cougars took control, keeping Robinson scoreless and holding on for the win.