Handre Pollard kicked winning penalty four minutes from time
South Africa will face England in Saturday's World Cup final
Wales will face New Zealand in third-place play-off on Friday
Wales lost George North and Tomas Francis to first-half injuries
South Africa's Damian de Allende scored first try after 57 minutes
Josh Adams went over in corner to level scores eight minutes later
Wales 9-16 South Africa
Matt Dawson
England World Cup winner on BBC Radio 5 Live
Pollard had been setting in for the drop goal but set off. Wales switched off, thinking they would go for the three points. The tackling was half-hearted – Shaun Edwards will be livid!
Wales 9-16 South Africa
A huge, huge 20 minutes coming up here.
What have Wales got in the tank?
Wales 9-16 South Africa
Tom Shanklin
Former Wales international on BBC Radio 5 Live
That was set up by Pollard, looking for space, gets them on the front foot and Wales switched off expecting the kick at the penalty advantage.
Damian de Allende (con Handre Pollard)
They don't need the advantage, Damian de Allende crashes over.
It was Pollard's break that set the tone and the Springboks swiftly fling it left for De Allende to hit the broken line at pace.
There are Welsh defenders hanging off him, but the Springbok centre powers close enough to touch down beyond the whitewash.
Pollard adds the extras.
Image source, AFPWales 9-9 South Africa
Here comes the Springbok rolling maul, but Wales dig their heels in.
Malcolm Marx spins off the side and now South Africa work it back right with another replacement in RG Snyman.
Handre Pollard looks for a gap, and briefly finds one.
South Africa have the advantage....
Wales 9-9 South Africa
Tom Shanklin
Former Wales international on BBC Radio 5 Live
South Africa look rattled, they have lost territory – and maybe we didn’t realise how strong this wind is in the first half.
Image source, ReutersWales 9-9 South Africa
Adrian Hadley
Former Wales international on BBC Radio Wales
South Africa are just relying on putting the ball in Wales' 22 and putting us under pressure, but hopefully we can get the ball out wide where we have an edge.
Wales 9-9 South Africa
Matt Dawson
England World Cup winner on BBC Radio 5 Live
South Africa’s bench are warming up, and my goodness me, there are some big men in there!
Wales 9-9 South Africa
Wales look to set the position for an attacking move from the line-out.
It drifts left and Leigh Halfpenny appears on Dan Biggar's shoulder at pace, but the fly-half's no-look offload is just forward.
Biggar has his hands on his head in frustration.
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Wales are the Black Knight of world rugby! Does not matter how many players get injured - "'tis' but a scratch!" - they keep on going regardless. Truly incredible how mentally tough a team they are to still be functioning so well having lost so many players to injury and to be up against such a physical South African side.
Gareth
Wales 9-9 South Africa
Great foraging from Wyn Jones as the prop burrows into a ruck and comes up with the goods. It relieves a brief spell of pressure on the Welsh 22.
Wales 9-9 South Africa
South Africa look to fling it along the line for a change, do they? Sort of... until it reaches Damian de Allende and the centre grubbers into touch.
Wales 9-9 South Africa
Adrian Hadley
Former Wales international on BBC Radio Wales
There's been a lot of ball not taken properly from up-and-unders and box kicks - is it the lights?
Image source, Getty ImagesWales 9-9 South Africa
Gareth Griffiths
BBC Sport Wales at International Stadium Yokohama
This has been one of the error-strewn games of this World Cup so far but neither side will care because of what is at stake.
Both sides are making mistakes so we wait to see which team will prevail as both sides continue to kick the leather off the ball.
Tomas Williams is on at scrum-half for Gareth Davies to perhaps add some more control.
Image source, Getty ImagesWales 9-9 South Africa
This semi-final must be a flight risk, the ball has spent that much time in the sky above the Yokohama stadium. Someone stick some flashing red lights on it.
Another knock-on, this time from Dan Biggar.
Wales 9-9 South Africa
Tom Shanklin
Former Wales international on BBC Radio 5 Live
Wales have a little bit of an edge psychologically, knowing they can beat South Africa. You can sense a change.
Image source, ReutersWales 9-9 South Africa
It's like pinball out there.
The ball ricochets between green and red before eventually settling for Gareth Davies, who jabs downfield.
Willie le Roux looks to scoop up but can only fumble his catch into touch.
Nerves in the Springbok ranks?
Wales 9-9 South Africa
Gareth Griffiths
BBC Sport Wales at International Stadium Yokohama
Faf de Klerk has been influential in this game but his mistake of dropping the ball eventually into touch set the platform for Wales' third penalty to level the scores.
This is tense.
Wales 9-9 South Africa
Becky Grey
BBC Sport at International Stadium Yokohama
The crowd really enjoyed the big-screen replay of Jake Ball v Faf de Klerk. It’s probably the biggest cheer I’ve heard all match.
Image source, AFPWales 9-9 South Africa
Matt Dawson
England World Cup winner on BBC Radio 5 Live
That was the middle of the middle of the middle! Tremendous kick, gives Wales the chance to settle and puff their chest out.