Cheltenham booked their place in the League Two play-off final with a 4-1 aggregate victory over Torquay.
Leading 2-0 from the first leg, they went further ahead when Jermaine McGlashan stroked home Kaid Mohamed's pass with 15 minutes left at Plainmoor.
Taiwo Atieno equalised for the Gulls on the night with six minutes left, heading home Eunan O'Kane's corner.
But Marlon Pack's brilliant free-kick from 25 yards out sealed a Wembley final against Crewe on 27 May.
The home side were without top scorer Rene Howe due to a hamstring injury, but made a positive start and Cheltenham were indebted to goalkeeper Scott Brown, who was forced into a series of impressive saves within the opening half hour.
He tipped an O'Kane effort over following some deft footwork from the Torquay midfielder and thwarted Ryan Jarvis after he had surged into the area.
From the resulting corner, Cheltenham defender Keith Lowe cleared via the post from his own goalmouth and Brian Saah fired the loose ball wide.
Brown demonstrated great reflexes to keep out a first-time shot from Mark Ellis, but was beaten by Torquay full-back Kevin Nicholson's sweetly struck free-kick, which rattled off the crossbar.
Torquay keeper Bobby Olejnik gathered at the second attempt when McGlashan looked to clip home from an acute angle, while Lee Mansell's 54th minute header looped up off Robins defender Alan Bennett to force Brown into another agile save.
As Torquay began to fade, the decisive moment arrived when Mohamed was allowed to ease infield after collecting a pass from Ben Burgess and he played in McGlashan, who poked home via Olejnik's boot and the inside of the far post.
Atieno reduced the aggregate arrears when he was left unmarked to glance in a near-post header from a corner, but Pack ensured his side went to Wembley in style when he found the top corner with a long-range set piece.
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Cheltenham goalkeeper Scott Brown told BBC Points West:
"It wasn't just about me, it was the two centre-halves and the full backs as well - they were brilliant.
"We knew we were going to throw everything at us but thankfully we stood firm.
"The gaffer changed the shape at half-time and we limited them to just a few chances.
"Fair play to the lads - I can't believe we're off to Wembley."
Torquay boss Martin Ling:
"For the first 47 minutes we bombarded them.
"We had six gilt-edged chances, two from the first leg and four tonight, and that's the difference over the two legs.
"I'm really proud of the players, they've done wonders this season, obviously they've not pulled off what they wanted to do.
"If I'm looking for a defining moment it is probably when Crewe scored their equaliser six games ago which took the situation out of our own hands."
Live Text Commentary
Full Time The referee blows his whistle to end the game.90:00 +4:49
Foul by Mark Ellis on Steve Elliott, free kick awarded. Scott P Brown takes the free kick.90:00 +4:10
Lee Mansell takes a shot. Jeff Goulding gets a block in.90:00 +0:37
Ian Morris fouled by Russell Penn, the ref awards a free kick. Free kick crossed right-footed by Eunan O'Kane.89:44
Foul by Sido Jombati on Lee Mansell, free kick awarded. Kevin Nicholson produces a strike on goal direct from the free kick, comfortable save by Scott P Brown.88:56 Substitution
Substitution Harry Hooman on for Jermaine McGlashan.88:33
Inswinging corner taken by Kevin Nicholson, Marlon Pack manages to make a clearance.88:16 Booking
Booking Booking for Marlon Pack for leaving the field of play without the referee's permission.86:53
Assist by Jeff Goulding.86:53 Goal scored
Goal! - Marlon Pack - Torquay 1 - 2 Cheltenham Marlon Pack finds the net with a fantastic goal direct from the free kick from a long way out to the top left corner of the goal. Torquay 1 (1)-(4) 2 Cheltenham.86:10
Brian Saah challenges Jeff Goulding unfairly and gives away a free kick.85:38
Free kick awarded for an unfair challenge on Kaid Mohamed by Brian Saah. Direct free kick taken by Russell Penn.84:29
Assist on the goal came from Eunan O'Kane.84:29 Goal scored
Goal! - Taiwo Atieno - Torquay 1 - 1 Cheltenham Taiwo Atieno grabs a headed goal from close in. Torquay 1 (1)-(3) 1 Cheltenham.84:13
Eunan O'Kane takes a inswinging corner from the left by-line to the near post,82:55
Eunan O'Kane takes a inswinging corner from the left by-line played to the near post.81:21 Substitution
Substitution Jeff Goulding comes on in place of Ben Burgess.80:17
Ryan Jarvis has a headed effort at goal from deep inside the area missing to the right of the target.78:53
Ben Burgess challenges Angus MacDonald unfairly and gives away a free kick. Robert Olejnik restarts play with the free kick.74:44
Kaid Mohamed provided the assist for the goal.
Goal! - Jermaine McGlashan - Torquay 0 - 1 Cheltenham Jermaine McGlashan finds the back of the net with a goal from inside the box to the bottom left corner of the goal. Torquay 0 (0)-(3) 1 Cheltenham.72:42 Substitution
Substitution Danny Stevens goes off and Angus MacDonald comes on.72:18
Free kick awarded for an unfair challenge on Eunan O'Kane by Marlon Pack. Robert Olejnik takes the direct free kick.71:44
Corner taken right-footed by Marlon Pack to the near post, clearance made by Eunan O'Kane.69:55
Shot on goal comes in from Luke Summerfield from the free kick. Inswinging corner taken by Marlon Pack from the left by-line, Mark Ellis manages to make a clearance.69:55 Booking
Booking The referee shows Mark Ellis a yellow card.69:31
Free kick awarded for an unfair challenge on Jermaine McGlashan by Mark Ellis.68:48
Free kick awarded for an unfair challenge on Russell Penn by Lee Mansell. Direct free kick taken by Scott P Brown.67:59
The assistant referee signals for offside against Ryan Jarvis. Scott P Brown takes the free kick.67:22
Kaid Mohamed takes a shot from just inside the penalty box which clears the crossbar.65:02
Shot by Taiwo Atieno from outside the box goes over the target.63:12
Mark Ellis has a headed effort at goal from deep inside the area missing to the right of the goal.62:31
Free kick awarded for a foul by Luke Summerfield on Taiwo Atieno. Eunan O'Kane delivers the ball from the free kick right-footed from right channel, clearance by Steve Elliott.61:43
Alan Bennett fouled by Ryan Jarvis, the ref awards a free kick. Scott P Brown restarts play with the free kick.60:42 Substitution
Substitution Taiwo Atieno joins the action as a substitute, replacing Damon Lathrope.60:34
Danny Stevens produces a cross, clearance made by Alan Bennett.59:18
Marlon Pack takes the inswinging corner, clearance made by Ian Morris.58:36
Ben Burgess is caught offside. Robert Olejnik takes the direct free kick.57:48
Foul by Eunan O'Kane on Sido Jombati, free kick awarded. Free kick taken by Scott P Brown.53:22
Lee Mansell takes a shot. Blocked by Alan Bennett. Corner taken short by Eunan O'Kane.51:15
Ryan Jarvis is penalised for a handball. Scott P Brown takes the free kick.50:02
Ben Burgess takes a shot. Comfortable save by Robert Olejnik.48:39
Jermaine McGlashan takes a shot. Save made by Robert Olejnik.48:05
Marlon Pack gives away a free kick for an unfair challenge on Lee Mansell. Damon Lathrope restarts play with the free kick.46:33
Ryan Jarvis is flagged offside by the assistant referee. Indirect free kick taken by Scott P Brown.46:02
Danny Stevens takes a shot. Save by Scott P Brown.45:01
The referee gets the second half started.45:00 +1:23 Half time
Half Time The ref blows to signal half-time.45:00 +0:27 Booking
Booking Ian Morris is shown a yellow card for unsporting behaviour.45:00 Substitution
Substitution Russell Penn comes on in place of James Spencer.44:40
Kaid Mohamed takes a shot. Save by Robert Olejnik.43:14
Free kick awarded for an unfair challenge on Ian Morris by Alan Bennett. Lee Mansell takes the direct free kick. Kevin Nicholson takes the chance to get an effort at goal.40:33
Eunan O'Kane fouled by Sido Jombati, the ref awards a free kick. Free kick taken by Eunan O'Kane.38:27
Kevin Nicholson sends in a cross, Header from deep inside the penalty area by Ian Morris goes harmlessly over the crossbar.37:29
Joe Oastler sends in a cross.36:54
Kaid Mohamed takes a shot. Comfortable save by Robert Olejnik.36:10
Ben Burgess concedes a free kick for a foul on Mark Ellis. Mark Ellis takes the direct free kick.31:05
Joe Oastler concedes a free kick for a foul on Ben Burgess. The ball is delivered by Marlon Pack, James Spencer takes a shot. Save made by Robert Olejnik.29:53
The assistant referee flags for offside against Ben Burgess. Robert Olejnik takes the indirect free kick.26:43
Shot from just outside the box by Mark Ellis goes over the bar.25:15
Brian Saah takes a shot. Blocked by Steve Elliott. Inswinging corner taken right-footed by Eunan O'Kane played to the near post, clearance made by Alan Bennett. Corner taken left-footed by Kevin Nicholson.23:45
Kevin Nicholson takes a inswinging corner from the right by-line to the near post, Alan Bennett makes a clearance. Inswinging corner taken from the right by-line by Kevin Nicholson, clearance by Luke Summerfield.19:49
The offside flag is raised against Ben Burgess. Brian Saah restarts play with the free kick.17:09
Ryan Jarvis takes a shot. Scott P Brown makes a brilliant save. Inswinging corner taken right-footed by Eunan O'Kane from the left by-line, clearance made by Marlon Pack. Free kick awarded for an unfair challenge on Jermaine McGlashan by Damon Lathrope. Direct free kick taken by Scott P Brown.16:46
Luke Summerfield takes a shot. Lee Mansell gets a block in.13:20
Foul by Ben Burgess on Lee Mansell, free kick awarded. Robert Olejnik takes the direct free kick.9:07
Corner taken by Kevin Nicholson played to the near post, Kaid Mohamed makes a clearance.8:28
Jermaine McGlashan has an effort at goal from long range that misses to the right of the target. Eunan O'Kane takes a shot. Save made by Scott P Brown.7:47
Effort from outside the penalty box by Danny Stevens goes wide left of the target.5:21
Mark Ellis is penalised for a handball. Free kick taken by Marlon Pack.4:31
Free kick awarded for an unfair challenge on Jermaine McGlashan by Danny Stevens. Marlon Pack takes the free kick.2:05
Kaid Mohamed takes a shot. Blocked by Brian Saah. Corner taken by Marlon Pack from the left by-line played to the near post, clearance made by Lee Mansell.0:00
The game kicks-off.
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