Gazza was left in tears after receving a yellow card that would rule him out of the final if England made it. Lineker was on hand to offer a word of advice.
"There it is." Des' heartbreaking send off on a truly rollercoaster evening.
As I'm sure a former footballer-turned actor in his major film debut will say in the not too distant future, it's been emotional.
As for the England class of 1990, well, let's remember them in happier times...
Getty ImagesCopyright: Getty Images
Have a good Easter everyone. Stay safe. And look out for further rewinds such as this coming to BBC platforms soon.
I'll see thee.
'Blown away by the reception'
England lose the semi-final
Peter Shilton
Former England goalkeeper, reflecting back on the 1990 World Cup
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 had 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.
Terry Butcher, speaking to the Express in 2018: "As a captain your job was to try to console players. I knew it was my last World Cup but I wanted to make sure the other players come back from it. I remember their manager Franz Beckenbauer coming over and being a real gentleman.
"We could see the Germans celebrating and it was hard. But that is when you have to be strong. Pearcey was inconsolable, Chrissy Waddle was inconsolable. There is not a lot you can say to them, it just takes them a time to recover."
'We will look back with pride'
England lose the semi-final
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."
'We could have won it'
England lose the semi-final
Trevor Steven, speaking to the guardian in 2018: “On the field absolute devastation emotionally. We felt so badly for who’d not scored. I don’t know how they must’ve felt to have that forever around their necks. When we got back into the dressing room, it was heartache, everybody consoling each other.
“But what can you do? It’s gone. The moment has gone, you can’t get it back. It’s difficult to put a jar on the emotions – we were so proud of what we’d done and yet one of the biggest regrets you can have as a player is not getting to the final. We could’ve won it and that would have been life-changing.”
Get Involved
#bbcfootball or text 81111 (UK only)
George: Rumour has it, that the reason we've not been back to the moon since 1969, is that Waddle's penalty ball is in orbit around the moon, and it's going so fast that it is impossible to land.
Too soon George, too soon.
Get Involved
#bbcfootball or text 81111 (UK only)
Andrew Boorman: Waddle nooooooooooooooo!!
'I was devastated'
England lose the semi-final
Peter Shilton
Former England goalkeeper, reflecting back on the 1990 World Cup
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.
'A cruel situation'
England lose the semi-final
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."
'Words cannot express...'
England lose the semi-final
Trevor Brooking
Former England midfielder at Stadio delle Alpi
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.
'Dream is shattered'
England lose the semi-final
John Motson
BBC commentator at the Stadio delle Alpi
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.
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.
'Hard and high'
England lose the semi-final
Chris Waddle, speaking to the Express in 2018: “The only one I had taken before was for Tottenham in a pre-season game. I had watched the goalkeeper very closely and noticed that he dived low. I decided to hit it hard and high.
"I kicked the post in anger and frustration, and the first player to speak to me was the West German captain Matthaus. He said, 'Don't worry, it's a horrible way to go out of the World Cup'. That was a magnificent gesture."
Getty ImagesCopyright: Getty Images
Lothar Matthaus. A class act.Image caption: Lothar Matthaus. A class act.
Live Reporting
Phil Dawkes
All times stated are UK
View more on twitterView more on twitter View more on twitterView more on twitter View more on twitterView more on twitter View more on twitterView more on twitter View more on twitterView more on twitter View more on twitterView more on twitter View more on twitterView more on twitter 
Getty ImagesCopyright: Getty Images 
View more on twitterView more on twitter 
Getty ImagesCopyright: Getty Images Lothar Matthaus. A class act.Image caption: Lothar Matthaus. A class act.
Latest PostWatch along with Lineker
West Germany v England
On Sunday, BBC Sport replayed England's heartbreaking loss on penalties to West Germany in the semi-final of the 1990 World Cup.
Watching at home was one of England's stars of the tournament - Gary Lineker.
So who better to take you through the key moments than the man himself?
Watch along with Lineker
West Germany 1-0 England
Andreas Brehme put West Germany in front after 59 minutes...
Watch along with Lineker
West Germany 1-1 England
It's that man who puts England level...
Watch along with Lineker
West Germany 1-1 England
That strike made it four goals in the tournament for Lineker and 10 in the last two World Cups.
Watch along with Lineker
West Germany 1-1 England
Gazza was left in tears after receving a yellow card that would rule him out of the final if England made it. Lineker was on hand to offer a word of advice.
Watch along with Lineker
West Germany 1-1 England
And so we head to penalties...
Watch along with Lineker
England lose the semi-final
And with that missed Waddle penalty, England's World Cup dream comes to an end.
World in Motion
"There it is." Des' heartbreaking send off on a truly rollercoaster evening.
As I'm sure a former footballer-turned actor in his major film debut will say in the not too distant future, it's been emotional.
As for the England class of 1990, well, let's remember them in happier times...
Have a good Easter everyone. Stay safe. And look out for further rewinds such as this coming to BBC platforms soon.
I'll see thee.
'Blown away by the reception'
England lose the semi-final
Peter Shilton
Former England goalkeeper, reflecting back on the 1990 World Cup
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 had 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.
Get Involved
#bbcfootball or text 81111 (UK only)
'Beckenbauer was a real gentleman'
England lose the semi-final
Terry Butcher, speaking to the Express in 2018: "As a captain your job was to try to console players. I knew it was my last World Cup but I wanted to make sure the other players come back from it. I remember their manager Franz Beckenbauer coming over and being a real gentleman.
"We could see the Germans celebrating and it was hard. But that is when you have to be strong. Pearcey was inconsolable, Chrissy Waddle was inconsolable. There is not a lot you can say to them, it just takes them a time to recover."
'We will look back with pride'
England lose the semi-final
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."
'We could have won it'
England lose the semi-final
Trevor Steven, speaking to the guardian in 2018: “On the field absolute devastation emotionally. We felt so badly for who’d not scored. I don’t know how they must’ve felt to have that forever around their necks. When we got back into the dressing room, it was heartache, everybody consoling each other.
“But what can you do? It’s gone. The moment has gone, you can’t get it back. It’s difficult to put a jar on the emotions – we were so proud of what we’d done and yet one of the biggest regrets you can have as a player is not getting to the final. We could’ve won it and that would have been life-changing.”
Get Involved
#bbcfootball or text 81111 (UK only)
George: Rumour has it, that the reason we've not been back to the moon since 1969, is that Waddle's penalty ball is in orbit around the moon, and it's going so fast that it is impossible to land.
Too soon George, too soon.
Get Involved
#bbcfootball or text 81111 (UK only)
Andrew Boorman: Waddle nooooooooooooooo!!
'I was devastated'
England lose the semi-final
Peter Shilton
Former England goalkeeper, reflecting back on the 1990 World Cup
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.
'A cruel situation'
England lose the semi-final
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."
'Words cannot express...'
England lose the semi-final
Trevor Brooking
Former England midfielder at Stadio delle Alpi
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.
'Dream is shattered'
England lose the semi-final
John Motson
BBC commentator at the Stadio delle Alpi
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.
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.
'Hard and high'
England lose the semi-final
Chris Waddle, speaking to the Express in 2018: “The only one I had taken before was for Tottenham in a pre-season game. I had watched the goalkeeper very closely and noticed that he dived low. I decided to hit it hard and high.
"I kicked the post in anger and frustration, and the first player to speak to me was the West German captain Matthaus. He said, 'Don't worry, it's a horrible way to go out of the World Cup'. That was a magnificent gesture."