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The Teranga Lions also needed a penalty to secure their place in the semifinal for the first time since 2009.
West African giant Senegal has reached the semifinal of the African Nations Championship, CHAN, for the first time in 14 years.
Senegal booked a ticket to the last four in Algeria following a hard-fought 1-0 win over a gallant Mauritania side on Friday night.
Midfielder Lamine Camara was the hero of the day for the Lions after he calmly converted a first-half penalty to give them the decisive win.
The decision to award the game-changing penalty came courtesy of the Video Assistant Referee, VAR, in the 34th minute.
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Camara, 19, stepped up to put the ball past Mauritanian goalkeeper Namori Diaw after defender Beibou hacked Moussa Ndiaye in the box.
Mauritania bows out after a gallant run
Mauritania conceded their first goal at CHAN in the quarterfinal of the ongoing tournament and it proved to be a decisive one.
The Lions of Chinguetti looked comfortable and in control against the Teranga Lions until the game-changing moment in the 34th minute.
Senegal took over proceedings in Annaba and never looked back after Camara converted the VAR-assisted penalty.
The second half was a cagey affair and the Lions of Teranga defended stoutly to hold on to the lead and win.
They will now face the winner between debutants Madagascar and Mozambique, who go head-to-head later today.
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