Senegal made the brighter start and took the lead in the 25th minute when Habib Diarra found the net after an energetic opening spell by the Teranga Lions.
The African side continued to dominate after the break and doubled their advantage in the 51st minute as Ismaïla Sarr finished from close range after being set up by Moussa Niakhaté, leaving Belgium facing an early exit.
Belgium struggled to match Senegal's intensity, prompting head coach Rudi Garcia to make a series of tactical changes. Romelu Lukaku replaced Charles De Ketelaere, Nicolas Raskin came on for Kevin De Bruyne, while Dodi Lukebakio and Diego Moreira were also introduced as Belgium searched for a way back into the contest.
The match became increasingly physical as both sides battled for control in midfield. Brandon Mechele was booked for Belgium, while Senegal's Lamine Camara also received a yellow card. Senegal later introduced Ibrahima Mbaye, with goalscorer Diarra making way.
Belgium's persistence finally paid off in the closing stages of normal time. Lukaku reduced the deficit in the 86th minute to spark hopes of a comeback.
"Romelu's goal changed the momentum and gave us the confidence to keep fighting," Garcia said after the match.
The equaliser arrived just three minutes later when Youri Tielemans calmly converted after being set up by Leandro Trossard, forcing the tie into extra time.
Belgium dominated much of the additional period despite signs of fatigue from both teams and completed the turnaround deep into stoppage time. Tielemans kept his composure to convert a penalty in the fifth minute of added time at the end of extra time, sealing a dramatic victory.
Belgium's experience and strength in depth ultimately proved decisive after a difficult start, securing their place in the Round of 16.

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