The atmosphere at Eden Park was electrifying as 45,000 spectators roared with the New Zealand squad after Grant Elliott hit the winning six against South Africa on the second last ball of the match to charge Brendon McCullum's men into the World Cup final for the first time.
South Africa had a brief moment of joy as they held a short glimpse of victory as New Zealand were left requiring five runs off the last two deliveries, but Dale Steyn's lengthy delivery proved expensive for AB de Villiers' men as Elliott hit it over long-on for a six.
New Zealand won the match by four wickets with one ball to spare as they chased down a refreshed 299 run target to win in 43 overs on Duckworth Lewis method after heavy showers disturbed the game when South Africa were batting.
Electing to bat first, South Africa posted 281 runs for the loss of five wickets in 43 overs, which was later revised to 298 runs on D/L Method.
After getting off to a faltering start, South Africa recovered from 31-2 in the seventh over to 114-3 in the 26th over as Rilee Rossouw hit 39 runs to provide some stability after openers Hashim Amla and Quinton de Kock departed for their low individual scores of 10 and 14 respectively.
Faf du Plessis further helped South Africa reach a respectable total with this 82 run knock before falling prey to Corey Anderson's delivery. He was helped on the pitch by skipper De Villiers, as he hit a quick fire 45-ball unbeaten 65 runs.
David Miller put the icing on the cake for South Africa with his brisk 49-run knock, which came off just 18 balls and included six fours and three sixes.
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Anderson was the pick of the bowlers for New Zealand with his three wicket haul. But he also conceded 72 runs in the six overs he bowled, while Trent Boult took two wickets with his mean pace.
New Zealand started their run chase comfortably with a 26-ball 69-run knock from their skipper McCullum and opener Martin Guptill's 34-run knock.
However, Kane Williamson departed on his individual score of six runs, followed by Ross Taylor on 30, which left New Zealand at 149-4 in 21 overs.
Elliott, who was named the Man of the Match, anchored the innings for New Zealand as he held his nerve after arriving on the pitch to knock an unbeaten 84 runs that saw them reach the World Cup finals for the first time. He was helped on the pitch by Anderson, who contributed 58 runs with the bat before departing off Morne Morkel's delivery.
New Zealand would now face either Australia or India, who go head to head in their semifinal tie on Thursday, in the World Cup final at the Sydney Cricket Ground in Sydney on Sunday.