Our flying full-back was involved in the move that led to Fabian Ruiz's opener on 30 minutes.
Charles De Ketelaere levelled 10 minutes later for Belgium and it took until the 88th minute for Spain to find the winner when Senne Lemmens - on for the injured Thibout Courtois - spilled Pau Cubarsi's shot and Mikel Merino was there to convert the rebound.
It's only the second time Spain have reached the last four of the World Cup - the last time was 2010, when they went on to beat the Netherlands in the final in South Africa.
Now, Kylian Mbappe and France await in the semi-finals in Dallas on Tuesday evening (8pm UK).
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