Two-time former champions USA reached the quarter-finals after beating 10-player Colombia 2-0 on Monday.
Alex Morgan and Carli Lloyd scored second-half goals for USA to secure the victory.
Head coach of the United States Jill Ellis was happy with the way her team played.
"This is the World Cup, I am really satisfied with advancing. Most of goals in World Cup tournaments, the majority come on set pieces. We've been brilliant, so it's about finding a way. I thought we stroked the ball around pretty well at times. So yeah, I'm pleased with where we are."
They will now head to Ottawa to face China on Friday in a repeat of the 1999 final.
Rapinoe and Lauren Holiday will miss the game for two yellows cards on aggregate.
