Jesse Marsch and Canada secure Copa America semifinal clash with Lionel Messi and Argentina after surviving penalty shootout to beat Venezuela in Texas

Canada and their coach, Jesse Marsch, are in dreamland tonight as they advanced to the semifinals of the Copa America in their first attempt.

But their clash with Venezuela was a more tense affair than they may have hoped - with the game going down to penalties. 

An early goal from Nashville SC star Jacob Shaffelburg showed Canada's quality once again, but the team just could not capitalize on the plethora of chances it generated.

That led to a wonder strike from the ageless Venezuelan wonder Salomon Rondon - who booted an arcing shot from over 40 yards out to equalize.

In penalties, proceedings went to sudden death where Ismael Kone rolled in the winning shot to secure a semifinal clash with Argentina at MetLife Stadium in New Jersey.

If you watched just the first 15 or so minutes of this match, then it looked like Canada was going to dominate this game.

It was in the 14th minute where Les Rouges drew first blood with a perfectly poached goal from Jacob Shaffelburg. With Jonathan David racing to the endline then dribbling inside, he managed to poke a pass onto Shaffelburg - who side footed it into the net.

Off to the sideline he raced, holding up the jersey of Tajon Buchanan - his Canada teammate who broke his leg and required surgery earlier this week. 

Canada kept their foot on the gas for the rest of the first half. A 31st minute low cross from Richie Lareya just missed striker Cyle Larin at the back post.

Venezuela was able to generate chances, but none of them were truly challenging to Canadian keeper Maxime Crepeau.

The second half saw things balance themselves out more as neither side managed to let off any accurate passes - but Venezuela started dominating possession.

Venezuelan momentum returned to them in the 65th minute. Off a Canada throw-in, the ball was cleared up top to 34-year-old Salomon Rondon.

Inexplicably, Crepeau was over 40 yards off his line. As the keeper raced back to correct his mistake, the ball fell for Rondon - who made space between himself and defender Moise Bombito and hit a long, arcing chip shot that bounced into the net to equalize.

Canada nearly re-took the lead within the span of two minutes, but the shot from Liam Millar went across the mouth of the net and didn't make its way over the goal line.

The match became tense and frantic. Marsch was seen screaming at officials after they whistled Alphonso Davies for a foul in the 72nd minute. 

Try as they might, Canada just couldn't put together anything of substance. Substitute Tani Oluwaseyi's shot went high above the keeper in minute 76. Long-balls and turnovers didn't lead to productive chances. Oluwaseyi had yet another chance in the 81st minute but his looping shot went over the crossbar.

Venezuela caused hearts to jump into Canadian throats in the 84th minute as a ball fell perfectly in the box to an attacker for La Vinotinto. A layoff pass to Miguel Navarro should have led to a shot on net, but his attempt sailed high - causing the fullback to collapse on the pitch.

Canada kept applying pressure late, but the chances just did not lead to goals. Shots kept going wide or getting saved and nothing Les Rouges was doing seemed to work. Penalties seemed destined. 

Penalties is what we got - with CONCACAF rules dictating that any draws in the quarterfinals go straight to a shootout.

Rondon stepped up first for Venezuela and sent Crepeau the wrong way. Canada sent David to the spot first and his attempt just beat the diving gloves of Venezuela keeper Rafael Romo.

Round two saw Yangel Herrera's attempt roll wide of the keeper's right post for the first mistake of the shootout. That was immediately met by a mistake from Millar, who didn't look confident in his run up and sailed his shot over the bar.

Into round three and Tomas Rincon decided to just smash his shot down the middle - putting Venezuela up 2-1. Bombito, with laser pointers flashing in his eyes, was able to surpass the distraction and slotted his attempt into the keeper's left side netting.

Even in round four, substitute Jefferson Savarino's shot met the glove of Crepeau and then rang off the post and out. Stephen Eustaquio stepped up for Canada and his shot was saved by Romo.

Pressure mounted for round five. Jhonder Cadiz sent Crepeau the wrong way and all the pressure fell to Alphonso Davies. The Bayern Munich man sent his kick into the back corner of the netting and we went into sudden death.

Venezuelan substitute Wilker Angel had his attempt saved by a diving Crepeau - who perfectly read the attempt. Canada's hopes fell to Marseille man Ismael Kone. He stutter-stepped and nearly froze before rolling his shot to the keeper's right and into the net to secure Canada's first semifinal appearance in the Copa America.