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Gareth Southgate gathered his team into a huddle ahead of extra time to inspire a goal that would take England through to the final of Euro 2020.
This will be England's first final appearance in a major competition since the 1966 World Cup. Southgate's side will play Italy in the final on Sunday at 8pm UK time.
Denmark opened up the scoring with an incredible free-kick from Mikkel Damsgaard before England levelled with a Simon Kjaer own goal to go into half-time all square.
A nervy second half saw the game go into extra time where Harry Kane sent the Three Lions to the final after following up a rebound from his missed penalty.
Now, Trippier is able to reveal that Southgate told his England heroes to be "brave" during his crucial team-talk while also urging them to stay "patient" in their bid for a goal, which would see them qualify for the final.
Trippier told The Guardian: "It was just: 'We're in a good position, we're playing well, it's about being patient with and without the ball.'
"And just to keep doing what we're doing. We've got a brilliant team and Gareth was just so positive as he always is.
"'Just be patient and your chance will come.' That was all really. 'Keep the ball well. Just be patient because our chances will come. And just be brave.'"
After trailing early, England assured that it wouldn't be back-to-back heartbreaks at major tournaments, just like the semi-final loss to Croatia at the 2018 World Cup.
Raheem Sterling played an essential role in the goal in injury-time, winning the spot-kick for Kane following a probing run into the penalty box.
Southgate's men will now be aiming to carve their name in the history books with a victory over Italy on Sunday night, with Roberto Mancini's men qualifying for the final via a dramatic penalty shootout win over Spain.
Featured Image Credit: PA
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