The win secured India’s spot in the Super Eights round.
India’s chase of the modest 111-run target was not without hiccups, as they found themselves in trouble at 15-2 and then 44-3.
However, Yadav (50) and Shivam Dube (31) steadied the ship with an unbroken 67-run partnership for the fourth wicket, guiding their team to victory with 10 balls to spare.
The United States, despite the loss, remain in a strong position to advance to the Super Eights alongside India, as they have four points, while Pakistan and Canada have two each.
India’s top order struggled against Mumbai-born fast bowler Saurabh Netravalkar, who dismissed Virat Kohli for a golden duck and also accounted for Rohit Sharma‘s wicket.
Rishabh Pant’s brief 18-run innings ended when Ali Khan rattled his stumps.
Earlier, the United States got off to a disastrous start, losing two wickets to Arshdeep Singh in the first over, with the score reading 3-2.
Captain Aaron Jones, who had scored an unbeaten 94 against Canada, managed only 11 runs before falling to Hardik Pandya.
Steven Taylor (24) and Nitish Kumar (27) added 31 runs for the fourth wicket, but the latter was brilliantly caught by Mohammed Siraj off Arshdeep’s bowling.
Corey Anderson, the former New Zealand all-rounder, scored 15 before being caught by Pant off Pandya, who completed a wicket-maiden.
The United States managed to cross the 100-run mark thanks to contributions from Shadley van Schalkwyk (11) and Jasdeep Singh (2).
India now join Australia and South Africa as the three teams to have secured their places in the next stage of the tournament.