Aymen Hussein became a hero for Iraq with his 2-1 goal eight minutes into the second half in Monterrey, Mexico.
It is Iraq's first World Cup in 40 years. The country has been drawn into Group I with France, Senegal and Norway.
Congo-Kinshasa has also qualified for the World Cup after winning its playoff final. The African team beat Jamaica 1-0 and will play in its first World Cup since 1974, when the nation was called Zaire.
The match in Guadalajara, Mexico, went into extra time, and Burnley defender Axel Tuanzebe scored the winning goal in the 100th minute.
All groups in the World Cup:
Group A: Mexico, South Korea, South Africa, Czech Republic.
Group B: Canada, Qatar, Switzerland, Bosnia-Herzegovina.
Group C: Brazil, Morocco, Haiti, Scotland.
Group D: USA, Paraguay, Australia, Turkey.
Group E: Germany, Curaçao, Ivory Coast, Ecuador.
Group F: Netherlands, Japan, Tunisia, Sweden.
Group G: Belgium, Iran, New Zealand, Egypt.
Group H: Spain, Saudi Arabia, Uruguay, Cape Verde.
Group I: France, Senegal, Norway, Iraq.
Group J: Argentina, Algeria, Austria, Jordan.
Group K: Portugal, Uzbekistan, Colombia, Congo-Kinshasa.
Group L: England, Ghana, Croatia, Panama.
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