Penalties were required in the National League North but Chorley will meet Spennymoor next Sunday.
The runners up got the better of brave Altrincham form 12 yards after the tie ended 2-2 at Victory Park.
It will be Jason Ainsley’s Moors who they meet next weekend - the North East club also winning on penalties as Brackley paid the price for missed chances as the game finished 0-0.
In the National League South there was an incredible afternoon served up with ten goals in the two ties.
Woking came form 2-0 down with 17 minutes to go to beat Wealdstone 3-2.
Jake Hyde hit a late, late winner to sent the Laithwaite’s wild - they looked down and out before the stunning comeback.
They will meet Welling next Sunday as Steve King’s side survived a real scare.
Going 2-0 at half-time, it seemed all over.
But Chelmsford’s spirit left the Wings in a flap as they got back on terms - but there was another twist to come.
Brendan Kiernan scored - just - with a late penalty to send them through to next week’s finale.