Wales have qualified for the Qatar World Cup after beating Ukraine 1-0 in Cardiff - and Martin Tyler produced some incredible commentary in the meantime.Wales haven't been to a World Cup since 1958 but will be heading to Qatar after Gareth Bale's 34th-minute free-kick was inadvertently deflected into his own net by Andriy Yarmolenko.It was a pulsating match played in front of an incredible atmosphere generated by the Welsh fans.It was nervy - there's no doubt about that.The heroic Ukraine side had plenty of chances throughout the 90 minutes but found goalkeeper Wayne Hennessy in sensational form.But it just wasn't to be for Ukraine. Wales held out and survived the five additional minutes at the end of the second half. And when the final whistle went, the roof of the Cardiff City Stadium came off. Absolute scenes as 64 years of hurt were ended.And providing the soundtrack for the incredible occasion was commentator Martin Tyler.Now, Tyler has been criticised recently for lacking the gravitas he once had. However, he was back to his very best on Sunday. And his commentary when that final whistle went was peak Martin Tyler."THE DRAGON HAS ROARED. WALES ARE GOING TO THE WORLD CUP AFTER 64 YEARS! THE LONG WAIT IS FINALLY OVER. QATAR, HERE THEY COME!"

VIDEO: Martin Tyler's commentary after Wales qualify for the World Cup

Brilliant.

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Earlier in the match, we were robbed of an iconic Tyler moment as Bale almost made it 2-0 to Wales with 15 minutes remaining. Instead, as Tyler screamed 'BALE', Ukraine goalkeeper George Buschan got down low to make the save.

VIDEO: We almost had an iconic Martin Tyler moment

Ladies and gentlemen, Tyler is back!