Swindon boss Mark Cooper described his team's 5-5 draw with Sheffield United as "torture" as they booked their place in the League One play-off final 7-6 on aggregate.
The Robins looked to have put the tie to bed early on when they went 3-0 up inside 18 minutes in the second leg at the County Ground.
The Blades were able to fight back to 3-2 before Michael Smith re-established a two-goal cushion, while Jon Obika had seemingly put the topsy turvy tie to bed with Swindon's fifth in the 84th minute.
But Sheffield United set up a tense finale with two late goals to level the scores on the night as Swindon hung on to set up a play-off final encounter with Preston on Sunday 24th May with an aggregate win.
Preston are 1/1 to win the game having seen off Chesterfield in the semi-finals, while Swindon are 1/1 to win the game in 90 minutes. The draw is 1/1.
Swindon are looking to return to the Championship after a 15-year absence and Cooper was full of praise for his squad for taking another step towards that goal, although he admits the players will have to work on their defending ahead of meeting Preston at Wembley.
"I can't put into words what I've just seen to be honest," Cooper told BBC Sport.
"I'm putting it down to being a freak of a game, I don't think there will ever be another one like that. It was like two heavyweight boxers trying to knock each other out.
"Fair play to Sheffield United. At 3-0 down they kept going, gambled everyone going forward. We kept scoring, they kept scoring and it was a ridiculous game of football.
"I'm proud because at the start of the season we were written off as relegation fodder really. For a group of young boys to come through and be one game from the Championship and to get to Wembley is a remarkable achievement from them."
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