SEATTLE, July 1 (Xinhua) -- Youri Tielemans converted a penalty deep into extra time as Belgium recovered from two goals down to beat Senegal 3-2 and reach the World Cup last 16 on Wednesday.

Senegal raced to a two-goal lead at Seattle Stadium after goals either side of halftime from Habib Diarra and Ismaila Sarr. Pape Thiaw's side looked set for victory before Romelu Lukaku and Tielemans scored in the last five minutes of normal time.

Tielemans' 125th-minute spot kick completed the turnaround as Belgium set up a meeting with either the United States or Bosnia and Herzegovina in the next round.

Belgium made the brighter start, but Senegal quickly settled and seized control through its pace and movement in wide areas.

The first clear opening arrived in the 13th minute when Sarr met Ismail Jakobs' cross at the far post. Thibaut Courtois got a touch to the effort before the ball struck the upright, and Sarr fired the rebound into the side netting.

Senegal continued to threaten and earned its reward 11 minutes later. Sadio Mane lifted a cross toward Sarr, whose flicked header came back off the post. Diarra reacted first and tapped into an empty net from close range.

Belgium struggled to create clear opportunities against a disciplined Senegal defense. Maxim De Cuyper forced Mory Diaw into a diving save with a curling effort from outside the area, but Senegal took a deserved one-goal advantage into halftime.

After the break, Garcia introduced Lukaku, with Dodi Lukebakio and Nicolas Raskin also coming on just before the hour.

The changes failed to alter the pattern. Mane created another opening when he beat Timothy Castagne on the left and released Diarra, who steered his finish wide.

Senegal doubled its lead in the 51st minute thanks to a superb individual effort from Sarr. The forward ran onto Moussa Niakhate's long pass, controlled the ball on his chest and drilled a right-footed shot beyond Courtois.

Belgium pushed forward in search of a breakthrough. Lukaku finally pulled a goal back in the 86th minute, outpositioning his marker to fire home from close range after Thomas Meunier's low cross.

The European side suddenly had the momentum and drew level three minutes later when Leandro Trossard's delivery left Diaw stranded, allowing Tielemans to head into an unguarded net from six yards.

Senegal nearly restored its advantage, but Ibrahim Mbaye fired wide as the match went into extra time.

Belgium carried the initiative into the additional period, almost breaking the deadlock through Lukebakio, who struck the crossbar in the 117th minute.

A video review then found that Lamine Camara had brought down Tielemans after Diego Moreira's cross. The Aston Villa midfielder sent Diaw the wrong way with his penalty to give his side the lead for the first time in the match.

Senegal had one more chance to force a penalty shootout, but Pape Matar Sarr blazed a free-kick over the bar seconds before the final whistle.