Serbia won the second leg in Belarus 3-2 to qualify 6-3 on aggregate.
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Serbia earned the last place at UEFA Futsal EURO 2022 with home and away victories against Belarus in the play-off.
While the eight group winners and six best runners-up from the qualifying group stage automatically earned their spots in the finals from 19 January to 6 February, the other two teams that finished second took each other on for the right to join them.
Serbia, who had the eighth-best record, hosted the first leg as decided by a draw made when the qualifying groups were set. Their victory takes them into Group A for the finals, meeting holders Portugal, Ukraine and hosts Netherlands in Amsterdam.
Wednesday 17 November: Belarus 2-3 Serbia (Minsk)
- Dragan Tomić and goalkeeper Nemanja Momčilović struck before half-time for the visitors and Stefan Rakić extended the lead before Vladislav Selyuk and Sergei Krikun's late consolations.
Monday 15 November: Serbia 3-1 Belarus (Kragujevac)
- Ninoslav Aleksić and Marko Pršić scored either side of a Belarus own goal to give Serbia control of the tie before Dmitri Los pulled one back late on.