Courtney Lawes charged down TJ Perenara's 76th-minute box kick and the ball fell to Underhill, who weaved full-back Damian McKenzie inside out to touch down in the left corner.
England responded with a late onslaught that failed to produce the winning score and Jones was impressed by the dignity displayed in agonising circumstances. "If you look at any sort of metrics in the last 20, we won it and we'll take enormous confidence from that", Jones said.
"In fact, we finished stronger". I've got three days to train them. "We're used to it, we're expected to win every time we go out there, but we embrace it as a team and walk towards it as a team".
When Jones' comments were put to Read at New Zealand's team hotel in London on Friday, he replied: "We do the Haka as a challenge but it is more about us connecting as a team". "We had opportunities to win".
"They've had a few close games recently".
Long range kick specialist Elliot Daly's penalty then set up a lineout just 10 metres from the New Zealand tryline. Against South Africa I never felt uncomfortable and at no point did I think "sugar we are going to have to try something drastically different".
Jones said: " The TMO made the decision and sometimes the games loves you and sometimes it doesn't. You've got to be reasonably stupid if you can't work out this is going to be big. "We're prepared to stay in the fight so we will get some love further down the track".
The All Blacks have been installed as overwhelming favourites to win a fixture their head coach Steve Hansen considers to be bigger than last year's series against the British and Irish Lions. He's just about in the half-back's (scrum-half's) back pocket.
"They're a well-coached side, a very well coached side", he added. To be down 15-nil, in a hostile environment in front of 80,000 people, 79,999 of them not being Kiwis, and the weather conditions.
And he insisted there would be no question of England playing "festival rugby" against the 2019 World Cup hosts.
Joseph attended England's abrasive Test with New Zealand, admitting he relished Twickenham's cut and thrust.
The 16-15 win over England at Twickenham was notable for the departure from the usual tactics the team employs, opting for a safety-first approach that ultimately brought victory.
England beat South Africa before losing to the All Blacks in their autumn internationals. "We'll see how cohesive we can get in a short space of time, which mimics what we need to do at the World Cup".
They allowed McKenzie to make ground after missing a couple of first-up tackles, with England wing Jonny May eventually penalised for offside as he intercepted a pass. Blunder one: England are 15-13 up in the second half and awarded a very kickable penalty - in Owen Farrell, they possess the world's best place-kicker - so what to do?