Scotland will travel to Serbia looking to end their 22-year major finals absence and secure a spot at next summer's European Championships.
Steve Clarke's side edged past Israel on penalties after a tense evening at Hampden.
The teams couldn't be separated after 120-minutes and a nerve-shredding shoot-out was required to find a winner.
David Marshall saved from Eran Zahavi and all five Scotland players – John McGinn, Lawrence Shankland, Callum McGregor, Scott McTominay and Kenny McLean – scored from the spot.
The victory sets up a play-off final with Serbia after they overcame hot favourites Norway in the other semi.
Segej Milinkovic-Savic scored the winner in extra time to ensure Scotland would be making the trip to Belgrade rather than Oslo next month.
The match will take place on Thursday, November 12.
