Cross began the tie by missing multiple darts at double which allowed Bailey to go 2-1 up and from there this theme continued with Bailey pouncing on poor double hitting from 'Voltage'.
He was in further trouble when Bailey went 4-2 up with a break of throw and from there despite clawing back the legs, he went one away from victory at 5-4.
Cross finally made it parity and from there he broke the throw in the deciding leg to survive a true scare and move through despite not leading once in the contest.
Michael van Gerwen had it a lot easier as he breezed past Ben Robb in a 6-0 whitewash win, the first of the session in Brisbane.
He broke the throw to begin the tie going 3-0 up in double quick time including an 89 checkout and from there he went one away without a great deal of bother before concluding the tie to send out a statement after his poor form on the World Series as of late.
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Raymond van Barneveld (90.16) 6-2 (84.99) Haupai Puha
Daryl Gurney (95.07) 6-4 (86.96) Koha Kokiri
James Wade (91.63) 5-6 (86.98) Damon Heta
Simon Whitlock (87.58) 6-1 (74.87) Brendon McCausland
Rob Cross (101.17) 6-5 (87.5) James Bailey
Michael van Gerwen (94.93) 6-0 (79.29) Ben Robb
13:15 Gary Anderson v Corey Cadby
13:45 Peter Wright v Kyle Anderson