Replays showed Henry cushioned the ball with his hand, before squaring to William Gallas in the first half of extra-time in Paris. Gallas finished to give the French a 2-1 aggregate victory and book their spot in South Africa.
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"The linesman had the best view, apart from Shay Given," said Doyle. "I am sure Henry did not expect to get away with it because it was so obvious. It is difficult, we are all gutted.
"We knew we had to play high up and not let them settle. We played excellently and created chances. To see that goal on TV, it is just sickening.
"But, even after that, we just had to score. It was not to be but it is tough when you realise what an opportunity we had.
"I do not know what to say about their goal really. You do not blame the player if he can get away with it, it is nearly a natural reaction."
- Football.co.uk staff