Centre Ruhan Nel scored his second try with the scores level and time up on the clock to seal a dramatic win for the Stormers.
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That means that DHL Stadium will host a Vodacom United Rugby Championship quarterfinal.
The home side made a fast start, with an early penalty and a try taking them out to a 10-0 lead.
The DHL Stormers regrouped and came up with a try of their own as Leolin Zas crossed for his 11th of the season following a convincing build-up that started with a scrum in the 22.
The Scarlets stretched their lead with two more penalties, but the DHL Stormers had the final say in the first half as Evan Roos crashed over just before half-time to reduce the deficit to just 16-14 at the break, making it anyone’s game in the second half.
The DHL Stormers hit the lead for the first time in the game early in the second half as Ruhan Nel glided through a gap to go over for the third try.
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They were struck a blow on the hour mark, however, when Deon Fourie was shown a yellow card after the TMO decided that he had made a dangerous tackle.
The hoss drew level with less than 10 minutes to play as wing Ryan Conbeer scored in the corner.
The DHL Stormers had to dig deep and they came up with the goods in the final play of the match as Nel went over for his second try to seal the win.
The scorers:
For DHL Stormers:
- Tries: Zas, Roos, Nel 2
- Cons: Libbok 3
For Scarlets:
- Tries: Williams, Conbeer
- Con: Costelow
- Pens: Costelow 3