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Watson lost the opening set, concluded by Flipkens' first ace, but broke twice in the second to force a decider.
There, the two players traded service breaks before Watson crucially earned another to lead , giving her the chance to serve out the match.
Heather Watson was a deserved winner Credit: PA She trailed but battled back to force match point, which she took with an unreturnable body serve.
Watson, who remains without a coach following her temporary link with Judy Murray, brought on her mother Michelle as on-court coach when down in the first set. And Watson admitted having her mother around made it an extra special day.
In the post-match presentation, the British number two said: "It's the first time my mum's seen me win a title and it's Mother's Day back in England, so Happy Mother's day mum! But, following the pep talk from her mother, Watson reeled off four of the next five games and eased through the second set.
Again the momentum shifted as Watson held serve and then broke Flipkens, before keeping her nerve to lift her first title since Hobart in January Murray vs Nishikori: as it happened Watson added: "I thought Kirsten was pretty flawless in the first set and didn't give me anything.
I was getting pretty frustrated but I just had to stay calm and try my best and I didn't look past the next point.