The second half saw a dramatic shift in momentum as Harry Kane scored two goals to send England into the last 16 of the tournament.
England's lackluster start to the second period was marked by Tuchel's substitutions, with Anthony Gordon setting up Kane's first goal in the 75th minute to level the match.
Kane's magnificent double put the ex-Tottenham forward joint-sixth on the list of all-time top scorers in World Cups, one goal clear of Brazilian icon Pele.
Thomas Tuchel's men will face off against Mexico for a place in the quarter-finals next Monday at the Estadio Azteca, with this year's co-hosts overcoming Ecuador to secure their place in the last 16.
England's goalkeeper, Jordan Pickford, was largely at fault for DR Congo's early breakthrough, beaten at his near post as Cipenga opened the scoring in the seventh minute.
England's centre-back pairing, Marc Guehi and Ezri Konsa, owe their captain, Harry Kane, big time for their performances in the match.
Nico O'Reilly looked nervous in an edgy start to the match for England's entire defence, but showed signs of improvement as the match progressed.
Declan Rice, returning from a gruelling domestic campaign, looked rusty in his performances, but showed glimpses of his former self in a couple of promising moments.
Jude Bellingham was England's standout performer in the group stages, and continued to impress with his tireless work rate and skill on the pitch.
Marcus Rashford struggled to make inroads against former Manchester United team-mate Aaron Wan-Bissaka, but showed a glimmer of hope with a promising run in the second half.
Noni Madueke had a woefully ineffective display, failing to make a meaningful impact on the match before being hauled off for Bukayo Saka.
Substitutes Bukayo Saka and Eberechi Eze caused DR Congo problems after replacing Noni Madueke and Djed Spence in the 60th and 70th minutes, respectively.
The win sets England up for a crucial match against Mexico next Monday, with the team looking to build momentum and secure their place in the quarter-finals.
