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New Zealand beat South Africa with a six off the penultimate ball to reach the World Cup final for the first time.

TMS's Simon Mann and former New Zealand captain Jeremy Coney commentate on the dramatic finish.

With five needed from two balls, Grant Elliott hit Dale Steyn into the stands to finish unbeaten on 84 and seal a four-wicket win in Auckland.

This clip is originally from Test Match Special on Tuesday 24 March 2015.