Australia book their place in #RWC2015 semifinals

It took a controversial last minute penalty Australia flyhalf Bernard Foley to see the Wallabies win 35-34.

Scotland vs Australia in the Rugby World Cup quarterfinal at Twickenham on 18 October 2015. Picture: Rugby World Cup @rugbyworldcup.

CAPE TOWN - Australia set up an all-southern hemisphere last four at Rugby World Cup 2015 as they beat Scotland 35-34 in a dramatic quarterfinal clash on Sunday.

The Wallabies outscored Scotland by five tries to three, but it took a controversial last minute penalty by Australia flyhalf Bernard Foley to see the Wallabies through.

It was a fast paced and tightly contested game, with Scotland holding a slender 16-15 lead at the interval.

Drew Mitchell crossed over for two tries, one either side of halftime, while Adam Ashley-Cooper, Michael Hooper and Tevita Kuridrani got one each.

Mitchell has now scored 14 Rugby world Cup tries, which leaves his one behind Springbok Bryan Habana and All Blacks legend Jonah Lomu who

It was Greig Laidlaw's accurate goal kicking which kept Scotland in the game, as he kicked 19 of his team's points, as Australia's Bernard Foley struggled with his kicks.

Peter Horne, Tommy Seymour and Mark Bennet dotted down for Scotland.

Scotland were still in the contest up until the 60th minute when Seymour scored their second try, with the score at 25-24 in favour of the Wallabies.

Kuridani's 64th minute try which took the game to 32-24 in favour of Australia, and at that stage it looked like they had the game in the bag, but as the rain came down it seemed as if the Wallabies were going to let the game slip away.

Bennet intercepted a pass on the Aussie 22 and ran through to score between the sticks for Scotland to take the lead once more.

The drama was not over yet, as referee Craig Joubert awarded Australia a late penalty in the 79th minute, as he adjudged a Scottish player to have been offside after winning the ball rather scrappily at a lineout.

Having struggled with his goal kicking earlier in the game, Foley made no mistake with this one, as he kicked the two time world champions into the last four.

The semi-finals will see Rugby Championship opponents South Africa take on New Zealand, while Australia face Argentina at Twickenham next week.

Visit the Eyewitness News special Rugby World Cup 2015 portal.