The Scots have not played at the finals since 1998 -- missing six straight tournaments -- but they will be packing their bags for North America next year.
Supporters at Hampden Park on Tuesday were taken on an emotional rollercoaster ride in their 4-2 win against Denmark, pegged back twice before sealing victory in the dying minutes.
Midfielder Scott McTominay scored a breathtaking early overhead goal, only for Rasmus Hojlund to level from the penalty spot.
Lawrence Shankland then restored the home side's lead in the 78th minute, but the Danes, who only needed a draw to secure automatic qualification for the World Cup, equalised again.
As the clock ticked down, it appeared Scotland were heading for the play-offs.
However, they had other ideas. First, Kieran Tierney coolly swept the ball home from 25 yards before Kenny McLean scored an astonishing goal from the halfway line, sparking scenes of unbridled joy.
It left Scotland top of Group C and heading to the World Cup in Canada, Mexico and the United States, while Denmark now face the lottery of the play-offs.
Manager Steve Clarke, 62, who has guided Scotland to two European Championships since taking over in 2019, said: "Tonight, it feels pretty special.
"This is the best feeling, I've waited a long time. I've spoken before about how much I want to go to a World Cup with my country.
"I had a chance as player, but it passed me by for various reasons."
Former tennis world number one Andy Murray tweeted: "Yessssssssssssssssssss! Never in doubt Scotland -- North America here we come".
Scotland's First Minister John Swinney, who was at Hampden, tweeted: "Such a joy to watch such an amazing, spirited performance."
Rollercoaster ride
Scotland only had a chance to seal automatic qualification thanks to Denmark's shock 2-2 draw at home to bottom side Belarus on Saturday, with Clarke's men losing 3-2 in Greece on the same night.
The manager's joy on Tuesday was in stark contrast to his mood last month after his side laboured to an unconvincing 2-1 win against Belarus, when he said it was the most disappointed he had been since taking charge.
Scotland midfielder John McGinn, even in the warm glow of victory against Denmark, admitted the team had underperformed.
"I thought we were pretty rubbish to be honest, but who cares?" he said. "To get over the line was such an amazing feeling. The gaffer's team talk was exceptional."
Scotland fan Lewis Connolly, an 18-year-old army recruit, told AFP the feeling was "unreal".
"This just means so much to my country, you know? Years in the making. We're all here tonight. I think it's just amazing. It's amazing what our country's done, to get this far."
Nick, a 40-year-old chef, who did not give his surname, said he was pleading with the referee to give enough time for Scotland's dramatic fourth goal to hit the back of the net.
"I was calling for the whistle, saw it, I was like, 'No, don't blow the whistle! Don't blow the whistle!' In it went, 4-2 -- what more can you say? We're going, we're there -- USA, here we come."
Scotland's next challenge will be progressing beyond the group stage at the World Cup -- something they have never managed.
But for now, they can bask in their triumph as they contemplate a return to football's biggest stage.