Gabriel Martinelli scored a dramatic 95th-minute winner as Brazil came from behind to beat Japan and set up a World Cup last-16 tie against Norway or Ivory Coast.

With just seconds left, Brazil won possession back on the edge of the Japan box and Bruno Guimaraes slipped the ball into Martinelli, who took a touch before slotting in off the post.

It was a heartbreaking end for Japan, who had more than matched Brazil in the first half and battled valiantly in the second, but Carlo Ancelotti's side kept pushing and got their reward in final moments.

Japan were comfortable in the first half and Kaishu Sano pounced on Danilo's loose pass to drive past Casemiro and drill the ball into the bottom corner to give his side the lead.

Brazil struggled to respond before half-time but looked a different side after the break with Casemiro rising to power home Gabriel's back-post cross 10 minutes after the restart.

The goal had been coming and the five-time World Cup winners nearly took the lead in stunning fashion three minutes later.

Vinicius Jr received the ball 10 yards inside the Japan half, nutmegged his marker, drove into the box, jinked past another defender and stabbed his shot towards the far corner - only for Japan keeper Zion Suzuki to tip it on to the post.

Japan regrouped from there and while Brazil continued to push forward, chances were limited.

That is until Ao Tanaka lost the ball on the corner of his own box and was ruthlessly punished by Martinelli and Brazil.

For the first 45 minutes, it looked like being a day of frustration for Brazil as they struggled to break down Japan's five-man defence.

They had possession but whenever an attacking player received the ball in the final third, they instantly found a Japan defender on them, cutting off their options and giving them no room to manoeuvre.

Even going behind did not seem to jolt Brazil into action, and at half-time a shock was brewing.

Ancelotti had other ideas, though. Endrick was introduced to replace Lucas Paqueta, who appeared to take a knock early on and there was a renewed intensity to Brazil.

If Japan were going to stop them playing more intricate football around the box then Brazil would give them something else to think about - namely crosses.

They put in 28 in the second half - less than two minutes between each cross on average - and with players arriving at the far post, it worked.

That is how the first goal came about, Casemiro doing what he did so many times for Manchester United last season with a thumping header after drifting off his marker.

Japan eventually seemed to get a handle on that tactic but one late slip gave Brazil the chance they needed and first Guimaraes, then Martinelli kept their cool to send their team in the last 16.

There is no shame in going out of a World Cup to Brazil, especially when you have pushed them all the way as Japan did.

However, Hajime Moriyasu and his side had high hopes for this tournament, even after losing key players such as Wataru Endo and Kaoru Mitoma to injury, and so to fall at the last-32 stage will come as a big disappointment.

Moriyasu got his tactics spot-on in the first half with his side looking solid at the back, picking their moments to pounce on Brazil and then hitting them on the counter-attack.

Sano's goal was the perfect example, and at half-time the midfielder - who was perhaps a little fortunate to still be on the pitch after a clumsy challenge while already on a yellow card - might have been dreaming of his first international strike being a winner against Brazil.

Brazil's improvement meant those opportunities to break were restricted in the second half but the dogged defending continued - exemplified by Takehiro Tomiyasu's goalline block to deny Casemiro soon after the interval.

They did not wilt after the equaliser, the occasional forays into the Brazil half returned but with the chance to reset and go again in extra time just moments away, one slip proved costly.

So, for all their good work, Japan's wait for a knockout win at a World Cup goes on.