One minute, Senegal were cruising into the last 16 of the World Cup.

The next, they were left wondering how another dream had slipped through their grasp.

Manager Pape Thiaw’s side led 2018 semi-finalists Belgium 2-0 with only four minutes left of normal time, after goals from Habib Diarra and Ismaila Sarr.

But after outplaying their opponents, they somehow “found a way to lose the game”, as ex-Republic of Ireland skipper Roy Keane put it on ITV.

Romelu Lukaku’s 86th-minute goal sparked hope for Belgium and three minutes later, captain Youri Tielemans headed in an equaliser from Leandro Trossard’s cross – the pair were earlier seen having a heated argument – to force extra time.

Then came the controversial penalty, awarded for Lamine Camara’s challenge on Tielemans following a video assistant referee (VAR) review, and converted by the skipper himself 125 minutes in.

It condemned Senegal to further agony, having already endured the pain of being stripped of their Africa Cup of Nations (Afcon) title earlier this year.

“Football is just crazy. I couldn’t call any of this game,” former England striker Dion Dublin told BBC Radio 5 Live.

Late drama, controversy, history and heartbreak – this last-32 tie had everything and here, BBC Sport attempts to make sense of it all.

No side have rescued themselves from a position as desperate as Belgium’s in the World Cup.

Rudi Garcia’s players would have been forgiven for already contemplating an early flight home when Lukaku, the 33-year-old striker who played only 69 minutes of club football last season, flicked home Thomas Meunier’s cross late on.

“Senegal were better than Belgium for 70 minutes. Then Lukaku came on and changed the momentum,” said Dublin.

Three minutes later, Senegal goalkeeper Mory Diaw failed to deal with Trossard’s centre and Tielemans rose highest to head into an empty net to pull off an unprecedented comeback.

It was the latest that any team have trailed by two or more goals in regulation time, and gone on to avoid defeat at a World Cup.

“In football, anything is always possible as long as you believe in it,” Garcia said after his side’s win that was sealed by Tielemans’ second from the spot clocked at 124 minutes 44 seconds – the latest goal scored in World Cup history.

“The strength of this squad also lies in the players who come off the bench, because you can’t get results with just 11 players.”

Perhaps it should not have come as a complete surprise.

They are the first side to win a World Cup match after trailing by two or more goals since they themselves stunned Japan in 2018.

Thibaut Courtois, Kevin de Bruyne, Meunier and Lukaku also played in Rostov eight years ago when they beat the Samurai Blue by the same score to reach the quarter-finals.

Germany are the only side to previously achieve the feat – against Hungary in 1954 and England in 1970.

However, that winner came in controversial circumstances, with the penalty awarded after a VAR check deep into extra time.

But while Belgium celebrated, many questioned whether Camara’s challenge warranted the penalty and also the time it took reach the decision.

“I genuinely don’t believe that is a penalty,” said former England defender Gary Neville on ITV.

Keane added: “The penalty is a bit harsh and the referee took so long to look at the screen. You want conviction in the referee’s decision and he was hesitating for a long time.”

For Senegal, the scenes may have brought back memories of Rabat and the Afcon final in January.

There, it was Morocco who were awarded a stoppage-time penalty following a VAR check on El Hadji Malick Diouf’s challenge on Brahim Diaz.

Amid sensational scenes, head coach Thiaw ushered his team off the field – which ultimately proven costly for Senegal as they were later stripped of the title despite a 1-0 win against the hosts.

“We’re out – it hurts,” Thiaw said.

“We must congratulate the team, who gave it their all, but unfortunately we weren’t able to hold on to our two-goal lead. We have to accept this. That’s football.”

Only Courtois, De Bruyne, Meunier, Lukaku and 37-year-old Axel Witsel remain from the Belgium side that finished third in 2018.

But Wednesday’s comeback was evidence that the remnants of their golden generation could still play an important role this time.

Meunier provided the cross for Lukaku’s goal, while Courtois remains their number one.

And although De Bruyne was withdrawn after 58 minutes to his visible frustration, Belgium could still rely on the former Manchester City playmaker for creativity as they prepare for a last-16 meeting with co-hosts United States.

Lukaku, meanwhile, was not just the gamechanger but also the peacemaker as team-mates Tielemans and Trossard argued with each other during the hydration break in the second half.

“They are at each other’s throats and it’s boiling over, which is not a good look. Even the manager has come across too,” Dublin said.

They might be far from perfect, but Belgium and their old guard have shown they still possess the quality and resilience to deliver at this World Cup.