In a rollercoaster encounter in which the lead changed hands six times, the Force looked on the cusp of notching back-to-back wins in New Zealand for the first time since 2008.
But winger Caleb Tangitau broke Force fans' hearts with his second second-half try as the Highlanders snatched a much-needed victory at Forsyth Barr Stadium in Dunedin on Saturday.
Wooden spooners last year, Joseph's Highlanders had won only one of their past nine matches and, midway through the second half, were staring down the barrel of suffering seven consecutive defeats to Australian opposition for the first time.
The great escape will be an especially welcome relief to Joseph, who, in a shock, missed out on the All Blacks coaching job this week to former Wallabies boss Dave Rennie.
Joseph largely had inspirational captain Timoci Tavatavanawai to thank after the powerhouse centre single-handedly shifted momentum back his side's way after the Force had grabbed a 21-17 halftime lead.
Tavatavanawai turned one-man wrecking ball as he beat and bumped off half a dozen Force defenders in two huge midfield surges.
With the Force suddenly on the back foot, Jonah Lowe swooped on a probing grubber kick from Jacob Ratumaitavuki-Kneepkens to snare his second try and restore the Highlanders' lead.
The quickfire blitz continued when Tangitau crossed minutes later to push the Highlanders out to an eight-point lead on the hour mark.
The Force wrestled back when prolific flanker Carlo Tizzano and former All Blacks winger George Bridge crossed in the space of two minutes.
But Tangitau's second strike and a late penalty goal sealed the deal for the Highlanders.
"It's great for us after a chaos week," Tavatavanawai told Stan Sport.
"I really feel for our coach but we're grateful that we have him for the next few years."
Earlier, when Lowe skirted down the right wing and brushed off two Force defenders to score the Highlanders' second try, after Veveni Lasaqa nabbed the dubious first off a forward pass, the home looked in control 17-7 in front.
But a 50-20 off the boot of Hamish Stewart turned momentum the Force's way.
Even Force captain Jeremy Williams looked half-surprised when referee Ben O'Keefe awarded the Wallabies lock a pick-and-drive try after he initially appeared short before planting the ball on the line.
Then fleet-footed flyhalf Ben Donaldson - who enhanced his Wallabies claims with another eye-catching display with the boot and ball in hand - put Stewart over after slicing through the Highlanders' defence to give the Force a four-point halftime advantage.
But it was not enough.
"A lot of the time we're probably losing the 50-50 battles. So whether that was from our contestable kicks, we just weren't probably getting the pay that we wanted," Williams said.
"Discipline was probably a little bit of a thing and then probably unforced errors.
"Proud of the performance, but there's still areas to get better in."
