Reigning champions New Zealand are into their fourth World Cup final after slogging past South Africa in another Twickenham epic.
The All Blacks were five points behind at half-time with a man in the sin-bin as four penalties from Handre Pollard cancelled out Jerome Kaino's early try.
A Dan Carter drop-goal and a Beauden Barrett try put the champions ahead.
South Africa replied with two penalties but a Carter effort in between secured victory despite ferocious Bok defence.
It was seldom pretty but once again in this World Cup there was a gripping finale, the All Blacks holding that two-point lead for the last 12 minutes as their opponents finally tired.
No team has ever retained the Webb Ellis trophy, but the All Blacks will be favourites to do so when they meet either Australia or Argentina next Saturday after finding their way through a brutal encounter.
