Gordon Bulloch, with two tries, and Brendan Laney, who held his nerve to kick two late, late penalties, were the heroes as the visitors won 27-22 in what was then known as the Millennium Stadium.
These pictures tell the story of a closely-fought match which saw the lead change hands seven times.
The game also marked the end of the legendary Bill McLaren’s commentating career in international rugby. He had begun in 1953 on BBC radio when he covered Scotland’s12-0 loss to Wales in Edinburgh, bowing out 49 years later.
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1. Ready for action
Scotland players Gregor Townsend, Budge Pountney, Martin Leslie, Jason White, Scott Murray, Simon Taylor, Mattie Stewart and Gordon Bulloch line up for the anthems before the 2002 Six Nations Championship match against Wales at the Millennium Stadium, in Cardiff. Photo: Mike Finn-Kelcey/Getty Images
2. Jones gets his eye in
Stephen Jones, now Wales' assistant coach, kicked three early penalties to give the Welsh an early 9-0 lead over Scotland in Cardiff in 2002. Photo: Mike Finn-Kelcey/Getty Images
3. Townsend pulls the strings
Current Scotland coach Gregor Townsend is tackled by Colin Jarvis of Wales. Townsend, who was playing in France for Castres at the time, was at stand-off for Scotland in Cardiff. Photo: Martyn Hayhow/AFP via Getty Images
4. Bulloch's first-half double
Hooker Gordon Bulloch only ever scored four tries for Scotland in 77 appearances but two of them came in the first half of the 2002 win in Cardiff. Photo: Mike Finn-Kelcey/Getty Images