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FT: Japan 1-1 Croatia (1-3 on pens) - Daizen Maeda opens scoring, Ivan Perisic levels
Croatia will face Brazil or South Korea, who meet at 19:00 GMT, in quarter-finals on Friday (15:00)
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Croatia will play either Brazil or South Korea in the first quarter-final on Friday.
Follow live text coverage of that Brazil game, which kicks off at 19:00 GMT, here.
FT: Japan 1-1 Croatia (1-3 on pens)
Alan Shearer
Former England striker on BBC One
The experience told in the end. The guys who have done it before know what it's like to be under pressure in that situation. They handled it so much better, you could tell that.
It was so frustrating from a Japanese point of view, it was like they have never practiced penalties, it looked that way. It was too big for them.
The Japan penalty takers looked so casual. All three of them, I don't think any of them struck them as hard as they wanted to.
FT: Japan 1-1 Croatia (1-3 on pens)
Dominik Livakovic is the first goalkeeper to save the first two penalties in a World Cup shootout.
FT: Japan 1-1 Croatia (1-3 on pens)
Rio Ferdinand
Former England defender on BBC One
I think that's the way penalty takers are going at the moment [being very casual]. You have to score otherwise you look like an idiot. Even Lewandowski the other day.
It is weird because you can't generate as much power. If you take a proper run up and you go and smash it. I used to watch Alan [Shearer] take penalties, the conviction was there, run up to it, head down and bang.
FT: Japan 1-1 Croatia (1-3 on pens)
Croatia have avoided defeat in five of their last six World Cup matches in which they have conceded the first goal (W2 D3 L1), with three of these games going to a penalty shootout (also vs Denmark and Russia in 2018).
Japan 1-1 Croatia (1-3 on pens)
Peter Schmeichel
Former Manchester United goalkeeper on BBC Radio 5 Live
On Croatia's potential quarter-final opponents
I am just thinking of the way Brazil have been playing and the players that they have, thinking about that I am not sure if Croatia have many chances against them.
Brazil are far too superior, fair play Croatia but they have done it on the narrowest of margins today.
FT: Japan 1-1 Croatia (1-3 on pens)
Dominik Livakovic was the Croatia hero with three penalty saves from four kicks faced. The 27-year-old has spent his career with Zagreb clubs so far.
Hey, want to watch the last couple of penalties? Click below.
FT: Japan 1-1 Croatia (1-3 on pens)
Rio Ferdinand
Former England defender on BBC One
This team have done their country proud. The Japanese people will be super proud of this team, the way they have conducted themselves, they've come back from adversity at times going a goal down against Spain and Germany.
They've gone beyond anything they've done before in this competition so they have to be proud of what they have done and they are going to be building for the future and they will come back stronger I'm sure.
FT: Japan 1-1 Croatia (1-3 on pens)
Japan's seven World Cups have all gone one of two ways - finish bottom of the group (1998, 2006, 2014) or eliminated in the last 16 (2002, 2010, 2018, 2022).
FT: Japan 1-1 Croatia (1-3 on pens)
Peter Schmeichel
Former Manchester United goalkeeper on BBC Radio 5 Live
I think it has been a fantastic performance from Japan. To beat Germany the way they did, to beat Spain when they needed to. They have to be so proud of what they have done and travel back to Japan with their heads held high.
They lost against a team that once it goes to a penalty shootout they win.
FT: Japan 1-1 Croatia (1-3 on pens)
Turns out Croatia goalkeepers are pretty handy at facing penalties.
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FT: Japan 1-1 Croatia (1-3 on pens)
Jermaine Jenas
Former England midfielder on BBC One
It was a really even game. That Japan side will be devastated. They put absolutely everything they had into it but the experience of Croatia, been there done it, been in penalties shootouts.
What a big moment from the keeper, Livakovic. He made some big big saves to take his country into the quarter finals.
FT: Japan 1-1 Croatia (1-3 on pens)
Chris Bevan
BBC Sport at Al Janoub Stadium, Qatar
Image source, BBC SportThe Croatia squad sprinted to congratulate goalkeeper Dominik Livakovic when their winning penalty went in. He is still getting hugged, by everyone, now.
Croatia's record in World Cup penalty shootouts is 3/3. They beat both Denmark and Russia in 2018 in the last 16 and quarter-finals.
Japan's is 0/2. They also lost to Paraguay in 2010.
FT: Japan 1-1 Croatia (1-3 on pens)
Jermaine Jenas
Former England midfielder on BBC One
Every penalty Japan missed, they haven't struck properly. Just put your foot through it! Livakovic made great saves.
It's all over. Croatia have beaten Japan on penalties and they are in the World Cup quarter-finals.
Image source, Getty Images
Mario Pasalic
Atalanta midfielder Mario Pasalic tucks his penalty away in the corner. Talk about composure.
Japan 1-2 Croatia
The next one is to win the game...
Maya Yoshida
Saved again! Just stick your foot through it!
Image source, Getty Images