India, who needed just a draw to make the last-four, were tied 2-2 with the Belgians at half-time. Pakistan, on the other hand, thrashed South Africa 4-1 to finish second in group B.
The beginning of Thursday's match was spirited with chances going abegging at both ends, including a penalty-corner that India shot wide.India controlled most of the play with Shivendra Singh and Prabhjot Singh being very active upfront, but the Belgian defence held tight.
Prabhjot had a great opportunity to open the scoring after stealing a ball from Xavier Reckinger in deep defence but his shot was just wide.India finally scored their first goal through a penalty-corner in the 19th minute, with a low flick by Dhananjay Mahadik.
The Indians could have doubled their tally a few minutes later on another penalty-corner but the initial shot was saved and Rajpal could not negotiate the rebound.
Belgium reacted well and after crashing a penalty-corner on the post, equalised with a penalty-stroke by Jerome Dekeyser in the 24th minute. Less than a minute later, a field goal by Renaud Pangrazio helped them go ahead of India.
The end of the period was dominated by India with a goal by Shivendra, who was left unmarked on the far post, in the 30th minute helping the team equalise with the Belgians.
India missed a chance to break the deadlock early in the second half on a penalty-corner, and the game continued back and forth at a high tempo, providing thrilling entertainment to the crowd.
Tushar Khandekar scored the go-ahead goal in the 48th minute, after a series of saved shots, but Belgium were not down yet and Adrian D'Souza had to pull a spectacular diving save to protect the Indian net.
Belgium continued with the same intensity but the very focused Indian team denied them until the end, scoring a last second goal by Prabhjot.
With the win, India won pool A ahead of New Zealand, Belgium and China.After a day's rest India will play Pakistan on Saturday.
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