Seattle. Belgium overturned a two-goal deficit and scored from the penalty spot deep into extra time to beat Senegal 3-2 on Wednesday in the biggest comeback of the World Cup so far.

Senegal held a 2-0 lead with just five minutes of regulation remaining, but late goals by Romelu Lukaku and Youri Tielemans forced the Round of 32 match into extra time.

Tielemans completed Belgium's comeback by converting a penalty in the 125th minute — the latest goal in World Cup history.

"Being part of this comeback is a proud moment because I scored the last two goals to give the team the win today. I'm very proud to have been able to help the team score goals and get us over the line," Tielemans said.

He was fouled with only seconds remaining and a penalty shootout looming. After a video review, the referee awarded the penalty, ignoring protests from the Senegal players.

"I do not want to interpret the decision. We all have different interpretations when it comes to awarding a penalty," Senegal coach Pape Thiaw said. "I'd rather not comment on the referee's decision."

The victory marked only the second time in the past 11 World Cups that a team has rallied from two or more goals down in the knockout stage to advance. Belgium also did so in a 3-2 victory over Japan in the Round of 16 at the 2018 tournament.

"Senegal deserved to win," Belgium coach Rudi Garcia said. "But I'm happy it was us."

Many of the key players from Belgium's third-place team at the 2018 World Cup in Russia were instrumental in Wednesday's victory. Lukaku, Belgium's all-time leading scorer, came off the bench to pull his team back into the match with a goal in the 86th minute, setting the stage for Tielemans to force extra time.

"It is a cruel loss because we played well," Thiaw said. "We had the advantage. We were leading 2-0. However, a football match is not just 85 minutes long. Belgium came back, and we were not able to deal with that. We must congratulate Belgium as they progress."

Belgium is back in the Round of 16 for the third time in four World Cups. The team reached the quarterfinals in 2014 and the semifinals in 2018 but failed to advance from the group stage four years ago in Qatar.

The Belgians will next face the United States on Monday in Seattle.

For much of the match, Senegal appeared headed for the Round of 16. Habib Diarra scored in the first half, and Ismaïla Sarr doubled the lead early in the second. It was his fourth goal of the World Cup and one of the tournament's finest. Sarr controlled a long ball from Moussa Niakhaté with his chest before firing a shot past Belgium goalkeeper Thibaut Courtois.

Courtois, playing in his fourth World Cup, then made three crucial saves to keep Senegal from extending its lead.

Senegal defender Krépin Diatta said Belgium should never have been allowed back into the match.

"It shouldn't have happened. You have to defend your box and you have to be the boss of your box," he said. "We suffered, but we have to move on. It's a pity."

Lukaku said Belgium showed its character with the late comeback.

"This Senegal side is one of the best teams in the tournament," he said. "Technically, physically and tactically, it was really tough. But when we increased the intensity of our pressing and won the second balls, our team spirit shone through and we won the match."

Senegal arrived at the World Cup as Africa's second-highest-ranked team behind Morocco. It won a chaotic Africa Cup of Nations final on Jan. 18 against Morocco, but the result was later overturned by African soccer's governing body after Thiaw temporarily pulled his players off the field.

Senegal reached the World Cup knockout stage as one of the best third-place finishers after losses to France and Norway and a victory over Iraq.

"It's the best African nation. It's as simple as that," Garcia said. "They showed that even against France, they dominated the first half. They came out of a difficult group. I would have preferred not to play against them."