Argentina and Australia complete Rugby World Cup semis line up

Scotland's Richie Gray and Australia's Adam Ashley-Cooper in action on 18 October, 2015 Reuters/Dylan Martinez

Australia needed a last minute penalty to defeat Scotland 35-34 and set up a World Cup semi-final with Argentina - convincing 43-20 winners against Ireland.

The Wallabies trailed at half time at London's Twickenham and were seconds away from a last-eight exit, before a controversial penalty, taken by Bernard Foley.

Juan Imhoff went over the line twice for Argentina in Cardiff at the Millennium Stadium.

2015 is the first Rugby World Cup to feature no Northern Hemisphere nations in the semis.