Kidderminster Harriers reached the last four of the FA Trophy with a deserved win at Oxford United.
Brian Smikle's close-range finish put the visitors in front early on in the quarter-final tie.
Oxford had made six changes, one of which was the recall of striker Matt Green, who capitalised on a defensive mix-up to equalise on 64 minutes.
But Rob Matthews won it for Harriers when he turned in Smikle's cutback with just six minutes remaining.
Harriers' win stretches their unbeaten run under new boss Steve Burr to seven league and FA Trophy matches - and one game away from a return to Wembley.
But Harriers, winners in 1987, have never triumphed in four previous visits to Wembley.
They drew 0-0 against Burton Albion in 1987 before winning the replay 2-1 at The Hawthorns and have since three times been beaten finalists.
They lost to Wycombe in 1991, Woking in 1995 and again in 2007, when they let slip a two-goal lead to lose 3-2 against Stevenage in the first game back at the rebuilt stadium.
Kidderminster Harriers manager Steve Burr told BBC Hereford & Worcester:
"It's a cup tie. Whether we deserved it or not, we are through.
"Oxford put us under pressure in the second half, but I always thought we could score.
"We have been working on counter-attacking in training, and we scored from their corner. It was pleasing and a great move well finished off.
"It was always going to be tough coming here and we are delighted to be in the semi-final."
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