Liverpool won a penalty shootout 6-5 against Stoke City at Anfield to reach the Capital One Cup final.
Stoke had won 1-0 in normal time with Marko Arnautovic scoring to level Liverpool's one-goal advantage from the first leg.
This took the match into extra-time and then penalties.
Liverpool goalkeeper Simon Mignolet was the hero with saves from Peter Crouch and Marc Muniesa, allowing substitute Joe Allen to step forward and score the deciding kick.
Jon Walters, Glenn Whelan, Ibrahim Affelay, Xherdan Shaqiri and Marco van Ginkel were all on target for Stoke, while Adam Lallana, Christian Benteke, Roberto Firmino, James Milner and Lucas were successful for Liverpool - before Allen settled matters to send Anfield wild in celebration.
Liverpool will play either Manchester City or neighbours Everton at Wembley in the final on 28 February.
- In eight previous League Cup semi-final first-leg victories, only once have Liverpool not progressed to the final.
- Stoke have played Liverpool seven times in the League Cup, drawing one and losing six.
- Before Tuesday, Liverpool had never lost a League Cup semi-final leg at Anfield.