On we go to Saturday for the two remaining quarter-finals.

Anyone know who's playing?

Until then.

Pat Nevin
Former Chelsea winger on BBC Radio 5 live

You have got to do something special to stop this Brazilian side, and Belgium made tactical changes with four at the back. It was a big call to bring Marouane Fellaini back, but he stuck to his job so the system was perfect.

Of course, it helps when your players are on form. Eden Hazrad was brilliant, as was Kevin De Bruyne, who you know always makes the right pass, and Romelu Lukaku was unplayable up to 60 minutes.

He was the main man at breaking it up and holding the ball up for Hazard and De Bruyne to play off him.

Belgium newspaper headlines tomorrow: "The Hand of Court."

Tim Vickery
BBC Sport South American football expert

Had it gone to extra time and penalties, all of the momentum would have been with Brazil because Belgium had made changes and the crowd would have got behind them. Hugo Lloris' save against Uruguay earlier was match-saving whereas the save from Thibaut Courtois from Neymar was a match-winning.

Jurgen Klinsmann
Former Germany head coach

VAR is one of the big winners of this World Cup. Nine out of 10 have worked well, you will always have discussions over it.

I think it's good.

BBC One

Belgium midfielder Kevin de Bruyne on BBC One: "It's not easy to play Brazil, they are a wonderful team. But the power we have as a team showed today. We were magnificent in the first half.

"Second half it was very difficult, they had a lot of players in the middle. In the last 15 minutes it was a character test and we showed the world what we are capable of.

"I was waiting a little bit for my goal, I saw the space and to hit it like that is nice. We created problems up front with runs from deep, it is wonderful.

"You have to grow as a player and as a team. Obviously it is difficult, in a tournament one loss and you are out but we tried everything. We are here to try and win the World Cup, obviously everyone tries. We are one win away from the game everyone wants to be in."

This hasn't aged well...

(Tweeted after Germany were knocked out of the World Cup in the group stages).

Pat Nevin
Former Chelsea winger on BBC Radio 5 live

It was a phenomenal game of football. So many great things in that game that we could talk about it into next week. Romelu Lukaku was brilliant in the first half and Kevin de Bruyne was outstanding. The Brazilians deserved to get back into the game and they needed something extra special, but the Belgian defending was brilliant. Belgium have got every chance of winning it.

Roberto Martinez will make many decisions in his managerial career but he won't make many better than today. We thought Belgium would struggle with a back three against Brazil, so he changed it. Credit to him for that.

BBC One

Belgium goalkeeper Thibaut Courtois on BBC One: "It's incredible. This team wants to win every game, against England people said it was better to lose but we won the game, we have confidence in our team.

"I have been unfairly criticised a lot this year, today I proved again who I am and why i am here.

"I know Neymar likes to curl it that way, I was ready and made a good save. Our tactical plan was great. We felt it was our day. It is a childhood dream to be in the World Cup.

"This thing about Jordan Pickford, I want to make it clear, I never mocked his height, he is a great goalkeeper. I want to make that clear."

Tim Vickery
BBC Sport South American football expert

It's exactly the same as the last time the World Cup was in Europe in 2006, when the South Americans fell at the quarter-final stage. I couldn't see Brazil's exit today though, and I couldn't see how Belgium would contain them with a back three.

They changed it, and Brazil didn't have a Romelu Lukaku or a Kevin de Bruyne. Unfortunately in Brazil, this will be seen as a failure because you either win it or you don't. I don't think Neymar was in 100% condition for this game but he is out without disgracing himself, and Brazil will come back in four years.

Brazil have now been eliminated by European sides in each of the last four editions of the World Cup (France 2006, Netherlands 2010, Germany 2014 and Belgium 2018).

Gary Lineker
Ex-England striker on BBC One

Wow.

We have been spoiled in this World Cup. Extraordinary game after extraordinary game. The World Cup is now the European Championship.

Steve: Europe vs the rest of the World Cup is interesting

Fabian: So Fellaini and Lukaku are into the World cup Semis. The GOAT'S..

Robert: Courtois was amazing, brilliant win for Belgium

BBC One

Belgium manager Roberto Martinez on BBC One: "They did it. You saw incredible heart from this team. You have to accept that Brazil have finesse and they will break you down but we did not accept it. This is something special. These boys deserve to be real special people back in Belgium.

"I never lost a game on the tactics board, it's the execution that matters and the execution was magnificent. Players have to be brave to change the way we play and we had two days to do it. That is down to desire, they wanted to make it happen.

"It is special. We can't let them down back home now. We have beaten Brazil in the World Cup, we have created a nice memory, let's treasure it and pass it down. Now we need more energy for the semi-final."

Jurgen Klinsmann
Former Germany head coach

In that moment, in the quarter-final of the World Cup, can you put it in? It's about killing the game. You have opportunities and they didn't execute.

Brazil were lacking that last piece of quality.

Alan Shearer
Former Newcastle striker on BBC One

It’s another incredible game. Belgium were up against it in the second half. Brazil had chances after making changes, adding more strength and pace to the team. They got their goal and it was a brilliant final 15 minutes. Belgium hung on. Fellaini was magnificent the way he and Witsel supported that back four. All Martinez’s changes worked perfectly.

The big question about Belgium was are you a team of individuals or can you come together as a team? And he’s gelled them together. That's got to come from the manager. There’s a huge difference between where they are now and where they were two years go. To come from 2-0 down against Japan and to have the character to hang on tonight against Brazil shows their spirit.

It's going to be an all-European semi-final line-up for the first time at a World Cup since 2006.

1934, 1966 and 1982 the other years it has happened, all also when the tournament was hosted in Europe.

Jurgen Klinsmann
Former Germany head coach

A stunning performance. We said that Brazil had to step it up a gear at half time and they tried to. It needed some brilliance from Neymar and that didn't come.

You can see the amazing team spirit for Belgium right now. They believe in themselves, they are very very close.

The Belgium supporters pile on to the pitch to celebrate with the players, while there are a few in gold and green who are in tears.

Brazil's journey ends here, but Belgium advance to St Petersburg where they will face France on Tuesday.