Jan Kliment scored the winning penalty to send the Czechs through to the final where they will play Denmark for a place at the tournament in June.

"We didn’t start well but we handled it as a team and we’re moving on — that’s what matters most," said Czech goalkeeper Matej Kovar, who saved two penalties in the 4-3 shootout win.

"We prepared for the penalty shootout with both goalkeeping coaches and it paid off so I have to thank them."

Troy Parrott put the Irish ahead in the 19th minute from the spot after a VAR review determined that Czech midfielder Vladimir Darida had caught Nathan Collins's foot when contesting a loose ball in the area.

The visitors doubled their lead four minutes later when an attempted clearance from defender Vladimir Coufal went into his own net. The Czechs responded in the 27th minute through a Patrik Schick penalty and then sent the match to extra time when captain Ladislav Krejci headed home in the 86th minute.

Ireland, roared on by a large contingent of travelling supporters, nearly grabbed the opener in the seventh minute when Collins unleashed a fierce shot just outside the penalty area that deflected off a Czech defender and hit the woodwork.

"It's just pain, we only feel pain of course," Ireland coach Heimir Hallgrímsson told RTE television. "When you go this far, it's up to luck and up to the flip of a coin.

"We had our first six or seven penalty takers ready and most of them were on the pitch, we had planned for this."

Czech coach Miroslav Koubek, making his debut with the national team, picked an attack-minded squad but his side spent the start of the match under pressure from Ireland who stunned the home side with two early goals.

The Czechs fought back in the second half with a more lively performance and nearly levelled when Ladislav Krejci's glancing header from a free kick was tipped over the bar by the Irish goalkeeper.

In extra time Kovar made two saves before Kliment, who entered the match as it headed toward a shootout, drove his penalty home to secure the win.

The Czechs, aiming to make their first World Cup appearance since 2006, host Denmark which dismantled North Macedonia 4-0 earlier in the night.