Williams came of the bench to score 24 points, while Iguodala added 21 points with seven assists as Philadelphia opened its eight-game road trip with a win.
Elton Brand contributed 20 points and 13 rebounds.
The slumping Magic, who dressed just eight players after making two trades prior to the game, lost despite getting 26 points and 20 rebounds from Dwight Howard. Brandon Bass added another 18 points and eight rebounds.
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