Watch: West Germany 1-1 England (West Germany win on penalties)
Lineker scored 35th goal for England to level
Parker deflected Brehme free-kick into his own net for opener
Italia 90 World Cup semi-final
England beat Cameroon to reach the last four
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West Germany 1-1 England (4-3 on pens)
It is the closest they have come since winning it in 1966, but England will not be repeating that feat of 24 years ago.
Instead, West Germany will go to the final to face Argentina, the nation that beat them in the final in 1986.
Chris Waddle
England's World Cup dream is over!
ENG v W GER 1990 - Waddle misses decisive spot-kick
Like Pearce before him, Waddle its for power but from the moment the ball leaves his boot it is rising and it clears the bar.
Olaf Thon
Thon shows England the way. Cool, calm, clinical. He has planted one of his country's feet in the final.
Here is the simple equation: England must score the next penalty or they are out of the World Cup. It's going to be Chris Waddle...
Stuart Pearce
ENG v W GER 1990 - Pearce misses penalty in shoot-out
Noooooooo! England blink first. Or, to be more precise, Stuart Pearce fails to convert. It was always going to power from the full-back, but Illgner guesses right and parries it with his legs.
West Germany will a golden opportunity. Over to you, Shilts.
Karl-Heinz Riedle
And West Germany level it up again. The substitute makes no mistake, following Beardsley's lead by finding the top corner.
David Platt
Platt's heart is in his mouth for a second as Illgner gets a hand to his penalty but the ball make it into the net. England have the advantage again.
Lothar Matthaus
He was never going to miss. This is smashed into the net, giving Shilton no chance.
Peter Beardsley
Yes Peter! So far so good as the Liverpool forward puts the ball into the far corner, way beyond Illgner's grasp.
Andreas Brehme
West Germany's own penalty king follows suit with a drive into the corner. Shilton guessed right but couldn't get to it.
Gary Lineker
He's done this before. Lineker makes no mistake, firing his shot into the corner.
After what feels like an age (they know how to ratchet up the tension) we are going to have our shootout. England are going to go first, which means Lineker is up...
West Germany 1-1 England
I admire the bravery of you hardy souls who are still with us right now. I have to watch the rest of this, it's my job. But you're making a choice.
I salute you.
West Germany 1-1 England
John Motson says that Beardsley, Lineker, Platt, Pearce and Gascoigne are Bobby Robson's top five penalty takers. Is Gazza in any fit state to step up and take one, though. He is in bits down on the pitch, tears flowing.
Image source, Getty ImagesWest Germany 1-1 England
Andreas Brehme, speaking to the Independent in 2010: “That semi-final was the best match of the World Cup. It was a fantastic match involving two great teams – it was the final before the final. For 120 minutes the game went one way and then the other."
West Germany 1-1 England
Trevor Brooking
Former England midfielder at Stadio delle Alpi
Whatever happens it has been a magnificent match. I thought England's game against Cameroon was probably the best match of the tournament but this has surpassed it. I certainly wouldn't like to be taking any of the penalties. As we saw with Italy and Argentina last night, it is such a nerve-wracker. Whoever misses, on either side, will have our sympathy.
West Germany 1-1 England
Penalties it is.
It has been a cracking, gripping 120 minutes of football. Now we get 10 kicks of the ball to settle it and decide who faces Argentina for the big prize.
West Germany 1-1 England
ENG v W GER 1990 - Buchwald hits post for West Germany
And now West Germany hit the post!
After Lothar Matthaus's shot is blocked the ball falls to Buchwald, who takes a touch to control before curling a shot that strikes the outside of Shitlon's left-hand post and goes wide.
England survive.
West Germany 1-1 England
Shilton is forced into another save. Not the toughest he has had to make in the game but a necessary one to spring to his left and catch the ball from Thon's shot.
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Ian: That tackle on Gazza today would be 3 red cards, in 1990, its a yellow and they shake hands.
West Germany 1-1 England
When we watched this game back to get it ready to show to you, we found there were a number of occasions when racist chanting appeared to be directed towards Paul Parker. We have edited the sound so this unacceptable abuse is now not audible but did not want to hide that it happened so we wanted to let you know.