Brandon Jennings scored a team-high 23 points to lead the visiting Milwaukee Bucks past the sloppy Miami Heat 91-82 on Sunday.

The Heat turned the ball over 22 times and were held to a season low in points against the Bucks, who earned their second straight road win after beginning the season 0-8 away from Milwaukee.

With the Heat trailing by five with less than a minute to play, Jennings snuck in for an offensive rebound and executed a difficult reverse lay in to put the game away.

Stephen Jackson returned to the Bucks lineup after serving a one-game suspension. He played just over 26 minutes coming off the bench and contributed 10 points.

LeBron James had 20 of his game-high 28 points in the first half for the Heat, who lost their first game of the season without Dwyane Wade in the lineup. Wade missed his fourth straight game with an ankle injury.