York City are heading to Wembley for a fifth time in a decade after Scott Fenwick scored a dramatic extra-time penalty to upset Lincoln City.
Fenwick's spot-kick gave the Minstermen a 3-2 aggregate victory over the National League leaders.
York, who are deep in relegation trouble towards the bottom of the National League, won the first leg of the semi-final after coming from behind to beat the FA Cup giantkillers 2-1 on Tuesday night.
But, after a goalless first period, Lincoln cancelled out the first-leg deficit through Sean Raggett's header.
The hosts were favourites to force a winner on home soil and came close through Elliot Whitehouse in the final minutes.
Without a second goal, the tie went into two extra periods and York were given the perfect opportunity to restore their lead when they were awarded a penalty shortly before the interval.
Fenwick kept his cool from 12 yards despite Lincoln goalkeeper Paul Farman guessing the right way.
And York saw out 15 nervy minutes in the second period to ensure their place in the Wembley showpiece, where they will face Macclesfield on Sunday, May 21.
York won the FA Trophy in 2012 when they beat Newport County 2-0, a week before returning to the capital to win promotion to the Football League.
The Minstermen lost to Stevenage in the FA Trophy final in 2009 and also played at Wembley in the Conference play-off final in 2010, where they fell to a 3-1 defeat against Oxford United.