Iraq have appeared in the finals of the FIFA World Cup on one occasion in 1986.
Paraguay vs Iraq
This match caused controversy as Iraq's Ahmed Radhi scored a header from a corner just seconds after the whistle blew for half-time so it was not counted. The referee, Edwin Picon-Ackong, received a lot of criticism for blowing the whistle when Iraq had such a big goalscoring opportunity.
References
Iraq at the FIFA World Cup Wikipedia(Text) CC BY-SA