Town booked their place at Wembley after a dramatic penalty shoot out victory over Charlton Athletic at The Valley.
A 2-1 victory for The Addicks took the game to extra time, and with the teams still inseparable, spot kicks were required, and Stephen Darby fired home the decisive penalty after Nicky Bailey had blazed his over.
The match started in unsettling fashion for Town, as David Lucas was forced off with a shoulder injury just two minutes in having falling awkwardly when collecting a long throw in.
The disruption didn't seem to affect the visitors in any way however, as they started the match in typically confident style when in possession.
But it was the hosts who created the first clear cut chances within a short space of time after 15 minutes, when first Deon Burton headed over when well placed in the penalty area, and then Kyel Reid saw his goal bound effort saved well by Phil Smith.
After a brief spell of home pressure, Town then began to find their feet and enjoyed extended spells of possession, with Douglas and Ferry predictably at the heart of the visitors' movements.
However, just as Town looked to be gaining an advantage, the hosts took the lead on the half hour mark as the unlucky Simon Ferry put through his own net.
A deep corner from Kyel Reid looped over the head of Phil Smith, and Ferry, manning the back post, stuck a leg out to clear and watch helplessly as the ball crossed the line to send the home supporters into raptures.
Town reacted well to going behind and continued to try to keep possession, but were coming under increasing pressure from the home side, buoyed by an increasingly jubilant home following.
Despite an encouraging reaction to falling behind from the visitors, they then found themselves two adrift, and one behind on aggregate in the third minute of first half stoppage time, as Kyel Reid did well to beat Stephen Darby on the right and crossed low for David Mooney who had time to sweep the ball home past Phil Smith.
The match flared up late in the half as a confrontation between Paynter and Dailly needlessly excited the crowd, but the half time whistle blew soon after to send Town into the break with it all to do to get back in the tie.
Town made a bright start to the second half, enjoying the lion's share of possession and looking to attack at every opportunity.
Charlie Austin nearly levelled the aggregate scores after 59 minutes, when some patient build up play from the visitors resulted in the striker breaking into the area but narrowly losing out to 'keeper Darren Randolph who smothered him well.
The home crowd were growing increasingly restless as Town were almost exclusively in possession and looking ever more likely to create a chance.
However, the visitors' task became even more difficult after 67 minutes, when captain Gordon Greer was shown a straight red card for a high challenge on Deon Burton, having seemingly won the ball.
The Scot's foot did catch Burton on the way through, and the referee produced the card almost instantly.
A period of home pressure inevitably followed, but Town held firm thanks in no small part to a stunning Phil Smith block, and they got their reward for a much improved second half performance a few minutes later.
Jon-Paul McGovern collected the ball inside his own half and surged forward under two challenges before reaching the edge of the penalty area and scuffing a shot into the path of the on rushing Danny Ward, who beat both Gary Borrowdale and Darren Randolph to the ball and poked it over the line to re-ignite the away support.
The goal inevitably galvanised the home side, who began to enjoy as much possession as they had done in the first half, and Phil Smith needed to be alert to deny both Deon Burton and David Mooney in quick succession.
As the match moved into stoppage time, Charlton's numerical advantage was wiped out, as Miguel Llera saw red after hauling Charlie Austin down when the youngster was bearing down on goal just outside the box.
Both sides proceeded to huff and puff, but as the full time whistle went, a nerve-jangling 30 minutes lay in wait.
The hosts dominated the first half of extra time, and might have put the tie to bed but for a combination of the post and some fine work by Phil Smith to deny Addicks substitutes Scott Wagstaff, Nicky Forster and Therry Racon.
Both sides looked equally desperate to avoid penalties in the second period, and Town had a golden opportunity to win it through Danny Ward, but the youngster's curling shot from inside the box drifted narrowly wide of the far post to the despair of the visiting fans.
It was then the home crowd's turn to hold their heads in anguish as Deon Burton squandered a golden opportunity by shooting just wide of the post when unmarked in the box.
That proved to be the last meaningful action of a pulsating tie, the fate of which was left to penalties.
Charlton skipper Nicky Bailey was the only one to miss his kick, and it was left up to Stephen Darby to slot the ball home and send Town to Wembley in what was a memorable moment for Danny Wilson and his players.