A fine way to end our day together I feel.

To Des. A legend.

England's current crop are in action tonight of course, it's the final friendly before we get to do the World Cup all over again. For real.

Join Neil Johnston for England v Honduras from 20:00 BST.

You can also watch this semi-final from Turin again tonight on the Red Button from 22:30. Do it again!

And there's Northern Ireland v Spain 1982 tomorrow afternoon. Over and out.

Jarleth:, external Watching the #wc90 shows what a broadcaster Des Lynam was. We talk about David Coleman, however Lynam was also incredible. A broadcasting hero.

Peter Shilton
England goalkeeper at Italia 90

"Everyone just wanted to get home but we were all blown away really by the reception we got when landing at Luton airport. There were thousands of people there to welcome us and that's when it really hit home how well we had done.

"We didn't win it but we went further than any other England team have done away from home and I'm very proud of that.

"Then when I got back to my village in Leicestershire there were 40 or 50 people waiting to clap me out of my car. They had put flags up and all sorts. I couldn't believe it."

I hope you all enjoyed seeing that in full, some 24 years on. England really played very well didn't they? Against a top-class German side.

But what happened next? Peter Shilton told me when I spoke to him this week:

Richard:, external Bobby Robson sadly missed. What a gent.

Peter Shilton
England goalkeeper at Italia 90

"I'll never forget that moment when Chrissy blasted it over the bar. My stomach just dropped, it was awful. That was it. I was devastated.

"To make it worse myself and Stuart Pearce were both called in for a drugs test at the end of the tunnel, we never went back in to the dressing room with the lads, we only saw them about two hours later back in the hotel. By that time everyone was eating and it was like a morgue.

"The last thing you want at the end of a penalty shootout is to be sat in a small room opposite two German lads for an hour. To be fair, they were good lads. They were obviously very pleased but they realised how we were feeling and didn't make too much of it."

Marc:, external Bobby Robson's wistful little punch... emotional.

Matt:, external Chris Waddle's pen probably still hasn't landed.

Gavin:, external Just found the match ball in my back garden.

That was England's first World Cup shootout since penalties were introduced by Fifa ahead of the 1978 tournament, but it hasn't been their last. Further heartbreak came against Argentina in 1998 and then at the hands of Portugal eight years later.

Former England striker Gary Lineker, who you have just seen bury his spot-kick against the Germans, talks you through BBC Sport's ultimate guide to the shootout.

You can see every penalty taken in a World Cup shootout - even Chris Waddle's.

The Match of the Day presenter explains what it is like to take a World Cup shootout penalty - and then to watch his team-mates step up from 12 yards.

With Graham Taylor coming in, and the likes of Andy Sinton, Carlton Palmer and Keith Curle knocking on the door, I think we can say that the future is bright...

Alix:, external Unlucky England. Maybe in 1994.

Image source, PA

England manager Bobby Robson: "It's a cruel situation but you have to accept it. We wish West Germany every success in the final, they are a good team. We matched them but it's over for us now, we have done well to get to the semis and can go home feeling very proud.

"When you get to the four best teams in the world there is not a big difference between them, all have tremendous fitness, tactical knowledge and technical ability, but it comes down to the ability of the one individual to break the deadlock. It was always close."

It doesn't get any easier does it? Maybe next time I watch this we'll win...

Trevor Brooking
Former England midfielder

Image source, Getty Images

"Words cannot express what the England players must be experiencing, over the 120 minutes before penalties they were the better side and looked sharper. They didn't get the luck when they needed it and I am so disappointed and choked for them."

Peter Shilton
England goalkeeper at Italia 90

"The pressure is on the taker. If you dive early every time, it's a gamble and you are open to people chipping it down the middle. Not every penalty is going to be a top-notch penalty and if you wait as long as you can, you have a good chance of saving any that aren't hit right in the corner. That was my theory anyway! Unfortunately, the Germans hit all four right in the corner. They were all hard and in the corner.

"You're just gutted when someone misses one. As a goalkeeper my instant reaction was, 'I need to save one now.' I got close to a couple but just couldn't get there."

England are out then, but a fantastic showing nonetheless. Gary Lineker scored the goal when it mattered and he gets the nod as man of the match.

World Cup Grandstand commentator John Motson in Turin

"Bobby Robson's dream is shattered in the coldest way possible. His England career ends sadly on the precipice of a great achievement and with it the hopes and dreams of every Englishman.

Image source, PA

"Waddle belted his kick over the bar, and West Germany scored all four of their penalties. That is the sad and dramatic finish of England's World Cup adventure in Italy."

Image source, Getty Images

Bobby Robson's final game as England manager will now be the game nobody wants to play. The third-placed play-off against hosts Italy.

His eight-year reign comes to a painful conclusion. But he will be remembered.

Des Lynam
BBC presenter

"Well. How do you feel...?"

Des Walker leads his team-mates over to the travelling England fans. They get a huge ovation after 120 minutes of solid effort.

What a way to lose...

Image source, PA

England midfielder David Platt: "Penalties put a huge amount of pressure on individual players and everybody is disappointed for Stuart [Pearce] and Chris [Waddle], but we know it could have been any one of us. It's a terrible way to go out. You have played here for four weeks and suddenly in seconds it's all over. We had our dream taken away when we could see light at the end of the tunnel.

"I think we will look back in a few days' time with a lot of pride. At the moment there are 22 players, plus a great many staff, who are very disappointed. The supporters back home, the folks in the houses, people watching the game and who care about the game are probably as disappointed as we are. But life goes on. They have to get up to go to work tomorrow and so will we."