Brazil, leading 2-1 with goals from Robinho and Ronaldinho, were stunned when Masashi Oguro fired home a rebound with two minutes to go after Shunsuke Nakamura's free kick had hit the post.

Japan roared forward and Marcos had to make a point-blank save from Oguro in injury-time to secure the draw Brazil needed to claim second place in Group B on goal difference, earning the semi-final against the hosts in Nuremberg on Saturday.

Group B winners Mexico will face Argentina in the second semi-final in Hanover on Sunday.

Japan, coached by former Brazil midfielder Zico and playing a style of football in keeping with his legacy, were fearless, even as the world champions attacked with pace and guile in the first half.

"We were playing to win," Zico said. "To nearly beat Brazil one year before the World Cup shows that we've come a long way."

With Robinho and Kaka cutting in from the wings and Ronaldinho bringing the ball forward at dizzying speed, Japan looked in danger of conceding every time they lost possession.

Brazil, their place in the semi-finals on the line after a 1-0 defeat by Mexico, looked more comfortable after taking the lead in the 10th minute.

Ronaldinho's close control took two defenders out of the game in his own half.

The Barcelona forward glided forward and calmly waited for Robinho to complete an angled run before playing the pass. The Santos forward duly beat the keeper with a precise shot.

Japan, who finished the group in third place on four points, were unlucky not to go ahead in the fourth minute when Akira Kaji outpaced the defence and beat Marcos, only to be pulled up for what looked an incorrect offside flag.

Mitsuo Ogasawara's header from a free kick then bounced on the goal line and out before Nakamura struck the equaliser, crashing in a shot from more than 30 metres to leave Marcos, recalled in place of Dida, with no chance on 27 minutes.

Brazil stepped up a gear and reclaimed the lead five minutes later when Kaka fed Robinho on the left and he picked out Ronaldinho, who poked a shot that deflected in off the keeper.

The South Americans were electric up front but too often over-elaborated.

Japan survived the rest of the half and almost levelled at the start of the second when Marcos saved at the feet of Oguro.

A few minutes later Cicinho had to clear off the line from Nakamura as Japan grew in confidence.

Brazil continued to create chances but lost their cool and would have surrendered their place in the semi-finals but for the last-gasp intervention of Marcos.