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Keegan's side narrowly beat Scotland to the last place among the 16 Euro 2000 finalists by virtue of an aggregate 2-1 victory set up by their 2-0 first-leg victory at Hamdpen Park.
Keegan admitted: "We need to improve. But we stumbled along and we kept hanging in. The one thing we showed is a lot of character.
"Scotland gave us a bit of a pummelling. They came here with nothing to lose and Craig Brown has taken my unbeaten record off me.
Keegan: Don't write us off
"But I will live with that for the chance to play on the bigger stage."
Keegan urged the public not to dismiss his side's chances at next summer's finals as a result of his first defeat as manager.
"We have become a nation that expects the world from our footballers and when we don't, we get slaughtered.
"But that resolve and willingness to get better are still qualities. They are not enough to win Euro 2000. We have got to find a bit to do that.
"But we can only find it if we are there and we are. So don't give up and don't write us off."
Keegan declined to criticise his players and insisted his squad had great character despite their seemingly weak-spirited performance.
"A few of the guys stood up and were counted but four or five of them didn't play as I know they can.
"But I can't emphasise enough that there is a lot of character in this squad.
"We've got six or seven captains. It's been difficult trying to qualify and experiment at the same time.
"Now we have room to do that and it's my plan to work on the left side of the team. That's the most important area that we need to work on."
England v Scotland - picture gallery
(17 Nov 99 | Battle of Britain)
We deserved to qualify - Hendry
(17 Nov 99 | Battle of Britain)
Timeline: England v Scotland II
(17 Nov 99 | Battle of Britain)
Sorry England scrape to Euro 2000
(17 Nov 99 | Battle of Britain)
Scotland squad guide
England squad guide
Great border skirmishes
Generals in the firing line
A history of fierce football rivalry
Fans in court over football trouble
Scotland v England
Lambert out of play-offs
Hendry's double jeopardy
Brown cautious over Hendry injury
The limitations of passion-play
England claim the prize
All quiet after Wembley showdown
Timeline: England v Scotland II
Hooligans face up to smart cameras
Cheers and tears for Scotland