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I just read this two days ago in some other thread while, as a new member, digesting through the forum... (sorry, I don't remember who's the credit to give)

Go to the Context View, ensure that all contexts are shown and set both the grouping mode and the action filter in the View Bar to "Completed" (and leave the flag and duration filters to "Any"). Then it will show all your completed tasks grouped by completion date. Open "Completed today" and voila :-)

Hope that helps,