EAST RUTHERFORD, N.J.—Natasha Kai scored in the 72nd minute and the U.S. women’s soccer team beat Ireland 1-0 on Wednesday night at Giants Stadium in the second game of a 10-game post-Olympic tour.

Briana Scurry preserved the victory with a late diving save on Michele O’Brien’s shot. Ireland’s Aine O’Gorman also had a chance at an empty net in extra time, but Heather Mitts’ cleared the ball away.

After failing on multiple second-half opportunities, the Americans broke through when Carli Lloyd fed Kai with a pass from inside the penalty box. Kai’s left-footed shot from 1...

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