The penalty shootout, the most nerve-wracking way to decide the winner in a tied soccer match, is a test of players' skill and willpower. The shootout has brought both joy and tears throughout the history of the World Cup. Here are some of the most famous moments.

2014 World Cup Brazil

Final eight

Costa Rica 6-4 Greece

Costa Rica's goalkeeper Keilor Navas makes a save against Greece's Theofanis Gekas (unseen) during the penalty shootout in their 2014 World Cup round of 16 game against Greece at the Pernambuco arena in Recife, on June 29, 2014. (Photo / Agencies)