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Bernard Casoni's charges had surrendered a 2-0 goal lead at the Stade de l'Abbe Deschamps on Thursday, but progressed as Lynel Kitambala's 121st-minute strike wrapped up a 3-2 victory.
Jamel Ait Ben Idir put the hosts ahead on 34 minutes, as Auxerre led 1-0 at the break.
The match was seemingly heading for penalties with neither side looking likely to find a breakthrough in the additional time, until Kitambala's dramatic winner at the death ensured the four-time winners would feature in the last eight.
The tight encounter was settled by Belkacem Zobiri's winner in the 28th minute.
