Rotherham United are headed for the Papa Johns Trophy Final 2022, overcoming Hartlepool United in the Semi-Final.
The Millers progressed on penalties, after the pulsating tie finished 2-2 after 90 minutes.
Hartlepool took a 1-0 lead into the break courtesy of Joe Grey, but the Millers regrouped and came flying out of the blocks in the second period. Michael Smith grabbed the equalised five minutes after the restart before the Pools re-took the lead through Luke Molyneux.
The game wasn't finished there, as Smith completed his brace to make it 2-2 and despite chances for both teams, that was how it remained.
Viktor Johansson pulled off a save in the shoot-out before Tom Crawford blazed his spot-kick over the bar, and it fell to Mickel Miller to score the decisive kick which set Rotherham on their way to Wembley.
Speaking after the victory, Rotherham United boss Paul Warne said: "It's pretty amazing. I'm really pleased for the lads,"
"I said to them in the hotel before we left to do it for their families and it's a nice way to give the people who loved you growing up something back. They don't know it yet because they're young men but when they get older and have their own kids they'll realise how important it is.
"I'm really pleased, the dressing room's happy. We've made loads of changes in every game in this tournament but we've always tried to win and make subs to win.
"We played a very good team in a very good atmosphere and nicked it on the flip of a coin."
The South Yorkshire side will join Sutton United in the Final, which takes place on Sunday 3 April.