The qualification playoff’s regular time and extra time ended 0-0, so the penalties decided the winning team in Qatar’s Al Rayyan.
Following their victory, the Socceroos reached their fifth straight World Cup finals.
Australia joined France, Denmark and Tunisia in the World Cup Group D.
Qatar 2022 is scheduled from Nov. 21 to Dec. 18 with 32 teams in eight groups.
On Tuesday, Costa Rica will face New Zealand in another playoff as there is only a ticket left to this year’s World Cup finals.
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