Wales secured a home World Cup play-off semi-final with a draw against Belgium.
The world's number one ranked side was in front in the 12th minute after Kevin de Bruyne's 20-yard shot.
Kieffer Moore's goal in the first half gave the hosts a boost and made the stadium erupt.
Neco Williams's shot was well saved by Koen Casteels, who was playing for Wales.
Who is in the play-offs for the World Cup?
The home advantage could be crucial in the play-off semi-finals.
Wales secured second place in Group E despite the Czech Republic's win over Estonia because of their point against Belgium in the Nations League.
Wales could host North Macedonia if they make it to the semi-finals, as they avoided away ties against European champion Italy or Euro 2016 winners Portugal.
The draw will be made on Friday, 26 November.
Wales can take great pride in the fact that they have taken a significant step towards qualification for the World Cup for the first time in over 50 years, even if they don't win.
On the night of permutations, Wales prospers.
There were two simple facts about the task that Wales had to face.
If they beat Belgium, they would get a home play-off semi-final; if they lose, they would be away.
The draw would bring in the other permutations. Turkey needs to win in Montenegro by four goals to have any chance of keeping Wales from relying on results in other groups.
The added problem for Wales was that they were up against the best team in the world, and they lost.
Kevin De Bruyne gave Belgium the lead.
Group winners Belgium were able to name a formidable line-up even though they were without some of their best players such as Romelu Lukaku and Eden Hazard.
The star quality was exemplified by De Bruyne's goal. The captain reacted quickly to a blocked shot and, with barely any backlift, guided his curling first-time shot into the net.
Roberto Martinez's side did not add to their lead after Belgium took control.
After Moore's leveller, they continued to threaten, most notably when De Bruyne's free-kick was floated out to the edge of the penalty area, where Hazard connected with a sweet volley which hit the post.
Even though the game became stretched in the closing stages, the home side finished strongest.
The celebrations after the final whistle showed how much of a result this was for Wales, as Williams came close to scoring a spectacular late winner.
In Bale's absence, Wales impress.
Wales were without their captain and all-time leading goalscorer, as well as their top scorer, on the morning of the game after Bale was ruled out due to a torn hammy.
The home side pressed their illustrious opponents high up the field despite Bale's absence.
Wales had to endure long spells without the ball, but they kept at their task of containing the world number ones and still posed a fleeting attacking threat of their own.
They were level in the 32nd minute. Moore struck a low shot beyond Koen Casteels in the Belgium goal after Daniel James had two crosses blocked on the left wing.
The celebrations were loud. The goal felt important, coming as it did from Wales' first shot on target.
Wales applied themselves superbly with a spirited team effort and had chances to win the game against Belgium, who had only lost once in their previous 47 matches, but had chances to win it at the last moment.
The greatest night in Welsh football history was the Euro 2016 quarter-final victory over Belgium.
In March, they will have a chance to create even more memories, with Turkey, Poland, North Macedonia, Ukraine, Austria or Czech Republic standing in the way of Wales and a play-off final which could take them to a first World Cup since 1958.
Line-ups.
Match statistics.
Live text.
Formation 4-5-1
Mepham6Rodon4Davies3N Williams
Ramsey7Allen20James
12Ward.
14Roberts
5Mepham
6Rodon.
4Davies.
3N Williams.
The book was written at 34 minutes.
Substituted for Johnson at 90 minutes.
7Allen
20James
MooreBooked at 80 minutes.
Substitutes.
Hennessey.
2Gunter.
8Wilson.
9Roberts
11Williams
15Colwill.
Norrington-Davies
18Lawrence
19Vaulks
21Davies
22Johnson.
23Thomas.
Formation 3-4-1-2.
The Hazard is 15Meunier6Witsel8Vanaken.
13Casteels
Substituted for Dendoncker at 58 minutes.
4Boyata.
Substituted for Vertonghenat for 85 minutes.
Substituted forTrossardat 85' minutes.
6 Wistsel.
8Vanaken
The book was HazardBooked at 71 minutes.
7De Bruyne.
Substituted for Saelemaekers at 58 minutes.
Substituted for Vanzeirat 59' minutes.
Substitutes.
1Sels
3Faes.
5 Vertonghen.
9Trossard
11Carrasco.
Kaminski is a 12.
14Mertens.
16Vanzeir
Dendoncker is a person.
20Benteke.
22Saelemaekers.
Sambi Lokonga was born.
The referee:
Artur Soares.
The match ended with Wales defeating Belgium 1.
Wales leads Belgium by one at the end of the second half.
Foul by Dendoncker.
Kieffer Moore won a free kick in the defensive half.
The attempt was blocked. Dante Vanzeir's shot from outside the box is blocked.
The attempt was saved. The Dedryck Boyata (Belgium) headed from the centre of the box is saved in the bottom left corner. Jan Vertonghen assisted with a headed pass.
Corner in Belgium. Conceded by Joe.
The attempt was blocked. The shot from outside the box by Leandro Trossard was blocked. Assist byAlexis Saelemaekers.
Wales. Brennan Johnson is the new person.
An attempt was missed. Dante Vanzeir's shot from outside the box is wide to the right. Assist byAlexis Saelemaekers.
There was a substitution in Belgium. Thomas Meunier was replaced by Leandro Trossard.
There was a substitution in Belgium. Arthur Theate was replaced by Jan Vertonghen.
Wales, is it possible to be Offside? Neco Williams tried a through ball, but was caught off guard.
Corner of Wales. Koen Casteels Conceded.
The attempt was saved. Neco Williams' shot from the left side of the box is saved in the bottom right corner. Daniel James assisted.
The yellow card was shown to Dendoncker for a bad foul.
Foul by Dendoncker.
The left wing is where Daniel James won the free kick.
Kieffer Moore was shown a yellow card for a bad foul.
A free kick is won in the defensive half.
