Belgium produced the biggest comeback of the World Cup so far, overturning a two-goal deficit to beat Senegal 3-2 with a dramatic penalty deep into extra time Wednesday and book a place in the round of 16.

Senegal looked set for victory after taking a 2-0 lead into the closing stages, but Belgium staged a stunning late rally. Romelu Lukaku pulled one back before Youri Tielemans struck in the dying moments of regulation to force extra time in the round-of-32 clash.

With a penalty shootout just seconds away, Tielemans completed the remarkable turnaround by converting from the spot in the 125th minute, scoring the latest goal in World Cup history.

"Being part of this comeback is a proud moment because I scored the last two goals to give the team the win today," Tielemans said. "I'm very proud to be able to help the team score goals and get us over the line."

The decisive moment came after Tielemans was brought down inside the penalty area with only moments remaining. Following a video review, the referee pointed to the spot despite furious protests from Senegal's players, allowing the Belgian midfielder to seal a memorable victory.