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Italy beat Spain 4-2 on penalties in the first last-four tie at Wembley on Tuesday night, with Chelsea midfielder Jorginho cooly slotting home the winning spot-kick.
Before that, the two teams had been locked level at 1-1 after Chiesa and substitute Alvaro Morata both struck in normal time.
Chiesa opened the scoring with a brilliant curling effort, with the Juventus forward then overcome with emotion after Italy’s final berth was confirmed.
“I cannot describe my emotion by words,” he said. “It was a tough match, Spain were great tonight but we come back here on 11 July for the final [against England or Denmark]. We will see, we will see.
“Spain were great, they have star players but we fought until the end and we did it.
“When Locatelli missed the first penalty, everyone was calm saying we can do it and at the end our group helped us in the moment.”