The Republic of Ireland were riding a wave of confidence into the World Cup playoff semi-final, according to Séamus Coleman, but it struck a rock on an agonising night in Prague. Heimir Hallgrímsson’s side squandered the initiative twice against the Czech Republic, in normal time and in the penalty shootout, as their hopes of qualifying for a first World Cup in 24 years evaporated.

Ireland led 2-0 after 23 minutes courtesy of a Troy Parrott penalty and a calamitous own goal by Czech goalkeeper Matej Kovar but they gifted the hosts a route back when Ryan Manning conceded a needless spot-kick. An 86th-minute equaliser from Wolves defender Ladislav Krejci took the game into extra time and then on to penalties.

Ireland led again 3-2 in the shootout when Caoimhín Kelleher saved from Mojmir Chytil only for Finn Azaz and Alan Browne to fail to beat Kovar with the next two attempts. Jan Kliment converted the fifth and final spot-kick to send the Czechs into a home final against Denmark on Tuesday. For Ireland, a fifth defeat in six World Cup playoffs was self-inflicted misery.

The match started as the respective qualifying campaigns had ended; Ireland full of confidence and on the front foot, the Czech Republic subdued and vulnerable. The pattern only changed when Ryan Manning handed the hosts an unnecessary lifeline.

Czech Republic may be higher in the world rankings – 43rd to Ireland’s 59 – and had not lost a World Cup or European Championship qualifier at home in over nine years, but their build-up to the game spoke of troubled times for Czech football. Ivan Hasek was sacked as manager in October after an embarrassing defeat by the Faroe Islands that ended any prospect of automatic qualification, resulting in 74-year-old Miroslav Koubek taking charge of the national team for the first time.

Tomas Soucek was stripped of the captaincy for not acknowledging supporters after the final qualifier against Gibraltar and also lost his place in the starting lineup as Krejci took the captain’s armband. And, to top it all, 47 people were charged this week by the Czech FA as part of an investigation into match-fixing.

Ireland immediately sought to capitalise on the uncertainty in the Czech ranks. All of the early threat came from the visitors with Jake O’Brien’s long throw-ins causing mayhem in the home defence. Parrott turned one O’Brien throw into the path of Nathan Collins who struck Kovar’s crossbar with a first time shot from the edge of the area. The captain’s effort took a slight deflection en route and, from Finn Azaz’s subsequent corner, Collins rose above Tomas Holes but headed wide from close range.

Collins went down appealing for a penalty when O’Brien’s next throw was flicked into his path inside the area. Play continued for several minutes, with Pavel Sulc volleying the Czech Republic’s first chance of the tie straight at Caoimhín Kelleher, before the video assistant referee advised Swedish referee Glenn Nyberg to revisit Collins’ claim on the pitch-side monitor. The defender had been caught on the underside of his boot by Vladimir Darida as they challenged for the ball. There was minimal contact but enough in Nyberg’s eyes to award the softest of penalty kicks.

Parrott’s spot kick was delayed by Kovar’s antics on the line but, undeterred, the prolific striker swept a powerful penalty past the goalkeeper’s right hand. The sight of Ireland fans celebrating in the home end behind the goal confirmed the away contingent inside the stadium had swelled beyond the official 1,024 ticket allocation.

The visitors found themselves in dreamland when a calamitous own goal doubled their advantage four minutes later. The Czech Republic were static when Azaz delivered a corner to the far post for the unmarked Dara O’Shea to head back across goal.

Former West Ham defender Vladimir Coufal attempted to clear but succeeded only in heading against the inside of his own bar and post. The ball dropped on to the shoulder of goalkeeper Kovar and over the line before Schick could intervene.

Ireland’s celebrations were worthy of a two-goal cushion away from home and the unmistakable sense that their opponents were imploding. Settle, protect the lead at all costs, do nothing stupid: unfortunately Manning did not get the memo.

The Czechs had offered nothing in attack but won a corner seconds after the restart that Sulc headed on to Krejci. The captain’s first touch took him away from goal and the ball was heading out of play when Manning pulled the back of Krejci’s jersey. It was a clear and foolish foul by the Southampton player. Schick struck a cool penalty into the top corner and, from out of nowhere, the home side were back in a contest that had been slipping away from them.

Ireland again hit the woodwork early in the second half when the hosts cleared a corner only as far as Jayson Molumby. The midfielder connected cleanly from 20 yards and was just turning to celebrate when his shot rebounded off the foot of a post with Kovar well beaten.

Inevitably, the pressure on Kelleher’s goal intensified as the Czech Republic tried to salvage their World Cup hopes. Ireland sat deep, looking to utilise Chiedozie Ogbene’s pace on the right as an outlet, and it took a superb save from Kovar to prevent Parrott scoring his second of the night with a deft header from another O’Brien long throw. It would prove a vital intervention and the platform for the hosts’ dramatic late equaliser when Krejci headed home substitute Michal Sadilek’s free-kick.