We chart a path toward solving for the nonlinear gravitational dynamics of cold dark matter by relying on a semiclassical description using the propagator. The evolution of the propagator is given by a Schrödinger equation, where the small parameter acts as a softening scale that regulates singularities at shell-crossing. The leading-order propagator, called free propagator, is the semiclassical equivalent of the Zel'dovich approximation (ZA), that describes inertial particle motion along straight trajectories. At next-to-leading order, we solve for the propagator perturbatively and obtain, in the classical limit the displacement field from second-order Lagrangian perturbation theory (LPT). The associated velocity naturally includes an additional term that would be considered as third order in LPT. We show that this term is actually needed to preserve the underlying Hamiltonian structure, and ignoring it could lead to the spurious excitation of vorticity in certain implementations of second-order LPT. We show that for sufficiently small the corresponding propagator solutions closely resemble LPT, with the additions that spurious vorticity is avoided and the dynamics at shell-crossing is regularised. Our analytical results possess a symplectic structure that allows us to advance numerical schemes for the large-scale structure. For times shortly after shell-crossing, we explore the generation of vorticity, which in our method does not involve any explicit multi-stream averaging, but instead arises naturally as a conserved topological charge.