Mark Gleeson BBC Sport, Maseru

Selolwane set the pace in the penalty shoot-out

It took 28 kicks before Botswana won 11-10 in a nail-biting sequence, after the two sides played out a goalless draw in full-time.

The shoot-out was finally ended when Lesotho's Lehlohonolo Seema hit his country's 14th kick wide of goal.

The result is heart-breaking for the mountain kingdom, who had also lost to Botswana in the World Cup qualifiers last year and will now be without international football until the first round of next year's Southern African championship.

But Lesotho have only themselves to blame after squandering several chances in the match.

Bushy Moletsane came closest midway through the second half when his shot rattled the crossbar.

Poor finishing saw the other opportunities wasted.

"When it is not meant to be your day, then it is not your day," lamented coach Mafa Ramakau after the elimination, which is likely to cost him his job.

Botswana, who had America-based striker Dipsy Selolwane in their team, could have snatched victory when the latter had a free header on goal, but Selolwane tamely steered the ball into the hands of grateful Lesotho goalkeeper Thabo Khoboli.

However, Selolwane set the pace in the penalty shoot-out which Botswana led 2-0 before Lesotho came back to tie at 3-3 after the first five kicks.

The nerve-wracking shoot-out then continued until Seema stepped up and missed.

Last year, the same player also missed the last kick when Lesotho were eliminated 5-4 on penalties by Mozambique in the first round of the annual regional competition.

The win set off wild celebrations by at least 2,000 travelling Botswana fans who had driven up to eight hours by road to cheer on their team.

"It was fortunate for our team and our supporters but I'm grateful for the win," said Botswana's Serbian coach Vesselin Jelusic.