All Whites coach Ricky Herbert gave special praise to goalkeeper Mark Paston after his stunning second half penalty save from Bahrain's Sayed Mohamed.
"We had done a little bit of homework and Pastie's pulled one out of the top drawer," he said.
"He's done a big one for us. We thought we could get through without conceding a goal. We thought one would do it and we're there."
Herbert was virtually speechless immediately after the match. "This group behind me, they've given it everything -- four years of total commitment," he told Sky Sport.
"We're back. We're there. South Africa, here we are."
Herbert, who gave Paston a kiss after the final whistle, said the team had done their preparation for a penalty scenario.
Paston had overcome a hip problem to take his place in the side and he described his save as "a bit surreal, really".
"I basically guessed which way and it ended up in my hands and I got up and went on with the game really."
He said it would take a few days for the realisation to sink in that New Zealand were indeed off to the World Cup.
The penalty came in the 51st minute as Uruguay referee Jorge Larrionda had no hesitation in pointing to the spot, after Tony Lochead brought down Abdulla Omar but Paston thwarted penalty taker Sayed Mohamed with a fine save, diving to his right.
Despite Bahrain continuing press for the equaliser that would have given them the tie on the away goals rule, Paston and his back four snuffed out any remaining half chances.
- NZPA and NZ HERALD STAFF
Soccer: Herbert praises 'top drawer' Paston
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