Joe Allen netted the winning penalty as Liverpool beat Stoke City 6-5 in a shootout in their Capital One Cup semi-final second leg on Tuesday.
Reds goalkeeper Simon Mignolet was the hero as he saved Marc Muniesa's spot-kick in sudden death to give Allen the opportunity to send Liverpool through to the final at Wembley.
The Potters won the Anfield clash 1-0 over the 90 minutes, Marko Arnautovic scoring for the Potters in first-half stoppage time to cancel out the Reds' advantage from the opening leg.
But it is Liverpool who will travel to Wembley in February to face the winner of the second semi-final between Everton and Manchester City.