"I knew I had to take one at some point and I had my heart in my mouth," Hector said.
"It's hard to put it into words, but I am overjoyed that it went in. There weren't many people left."
The 26-year-old Cologne defender slotted the ball low past the diving Italian goalkeeper Gianluigi Buffon with Germany's ninth penalty to settle a marathon shootout after the match had ended 1-1 at the end of extra-time.
"We're happy to have gone a round further, it was really stressful and of course luck played its part," Hector said.