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The final is set for next Saturday between South Africa and England - a repeat of the 2007 World Cup final in Paris which the Springboks won 15-6.
Stay tuned to Sport24 for reaction following the Boks' epic win over Wales.
The Boks showed great composure in those final 10 minutes. They had to first defend for a period and then took their chance when it came. Francois Louw's penalty on the ground will be remembered for a long time... as well as Handre Pollard's coolly slotted penalty a few minutes later...
Somehow, by hook or by crook, the Springboks have won and are into the Rugby World Cup final against England!
FULL-TIME: South Africa 19-16 Wales
80'- With time up, Pollard takes a tap and boots it into the stands to end the game!
79'- A power Bok scrum sees them win a penalty!
78'- DEFENDERS BEATEN
78'- METRES CARRIED
78'- Wales butcher a lineout inside their own 22m area and the Boks will have a scrum. They can now close this game out with 92 seconds remaining.
78'- KICKS FROM HAND
77'- It's all about the territory game in these last few minutes and the Boks are doing well keeping Wales pegged back.
75' - Pollard nails his PENALTY attempt under immense pressure!
SA 19-16 Wales
74'- The Boks win a penalty after a powerful driving maul.
Pollard, knowing he had the advantage, attempted a long-range drop goal but his effort was too low and hit the bottom padding of the posts...
73'- Brilliant work from Louw on the ground as he wins a penalty, redeeming his earlier off-side error...
Some welcome territorial relief for South Africa!
72'- But the Boks aren't out of danger. Wales with all of the possession now...
72'- After 11 phases of Wales attack, replacement flyhalf Rhys Patchell attempts a drop kick but it's a woeful effort...
70'- Louw just on to concede an off-side penalty. It allows Wales to set up a lineout near the Bok 22m area...
With Kolisi off, Vermeulen will now lead the Boks.
68' - Bok subs: Louw on for Kolisi and Steyn on for Le Roux.
65'- Leigh Halfpenny slots the CONVERSION to level matters again.
SA 16-16 Wales
64'- TRY to Wales as left winger Josh Adams scores in the corner. Good move to go blind at the scrum.
62' - After 21 phases of Welsh attack on the Bok tryline, they can't force their way through.
But they have a penalty in front... however, they opt for a scrum...
59'- Wales get a kickable penalty but opt to go for the touchline instead. They set up a lineout five metres out.
58'- Bok sub: Franco Mostert on at lock for Lood de Jager.
57'- CONVERSION slotted by Pollard.
SA 16-9 Wales
For the first time there was some urgency on attack from South Africa!
It was set up by a nice break from Pollard, before De Allende rounded off in style. He is powerful!
56' - TRY to the Springboks as centre Damian de Allende forces his way over with a powerful run!
55'- Boks into the red zone after a few promising phases...
54' - Some daylight for the Boks as they win a scrum penalty. It allows Pollard to set up a lineout near the Welsh 22m area...
52'- METRES MADE FROM KICKS
52'- KICKS FROM HAND
52'- Bok sub: RG Snyman on for Eben Etzebeth at lock.
47'- Bok subs: Kitshoff, Marx and Koch all on. Mtawarira, Mbonambi and Malherbe off.
47'- More pressure on the Boks as Le Roux drops a high ball on halfway. This is turning into a horror show.
47' - It's just a horrible kick-fest out there at the moment. Terrible on the eye.
45'- Biggar slots the PENALTY to level matters.
SA 9-9 Wales