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Australia booked their place in the World Cup’s round of 32 on Thursday with a cagey 0-0 draw against Paraguay that delighted pragmatic coach Tony Popovic but left the South Americans with a nervous wait to see if they will advance.

In a physical, scrappy contest at San Francisco Bay Area Stadium, Paraguay pushed late after being dominated early but it ended with the Socceroos holding on to make the tournament’s knockout phase for a third time, four years after reaching the last 16 in Qatar.

Popovic’s team sealed second place in Group D behind the United States and will head to Dallas to meet the second-placed team in Group G, which remains wide open before Egypt face Iran and Belgium meet New Zealand on Friday.

It was hardly a performance that will have Australia’s next opponents shaking in their boots, but players and staff celebrated with hugs and back-slapping, and soaked up a warm ovation from thousands of lingering Aussie fans.