Handre Pollard booted South Africa into a Rugby World Cup Final showdown with England as they claimed a 19-16 victory over Wales in Yokohama.
Pollard kicked 14 points and centre Damian de Allende scored a fine try to ensure they will return to face Eddie Jones' men in a 2007 repeat next weekend.
Josh Adams' scored a record-equalling sixth try in one World Cup for Wales, who also landed via three Dan Bigger penalties and a Leigh Halfpenny conversion.
But Warren Gatland's men, semi-final casulaties at the hands of France in 2011 and beaten by South Africa in the last eight four years ago, were sunk at the death by Pollard, as the Montpellier star fired over his fourth penalty of the night.
A tight, tense encounter saw both sides largely cancel one another out throughout.
Neither could manage a try during the opening half, with the Springboks taking a slender lead into the break, Pollard's three penalties outscoring Dan Biggar's double.
Wales suffered a blow before the half, with George North seemingly pulling a hamstring, but Biggar still managed to level the score with another penalty after the restart.
Faf de Klerk was his usual effervescent self throughout, sending the ball high into the Japanese sky on a number of occasions as South Africa's forwards looked to overrun their Welsh counterparts, while Gatland's side were having to make do without Liam Williams, absent through injury.
The score stood at 9-9 with 30 minutes remaining, before South Africa claimed the game's first try on 57 minutes.
De Allende ran powerfully to breach Wales' defence, taking three men over the line with him, before Pollard successfully converted.
Wales soon levelled once more however, with Josh Adams going over and Halfpenny kicking the conversion.
But with just four minutes remaining, another Pollard penalty was enough to send South Africa into a final showdown with England next week.
Jones' men, who produced an outstanding display to see off the All Blacks on Saturday, won't fear the Springboks based on this display, nor their quarter-final clash with Japan.
However, they must respect the grit and nerve of Rassie Erasmus' side.
Gatland, who has led Wales for 12 years, will have his finale against New Zealand in the third and fourth place play-off.
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