They needed an incredible comeback to overturn a 2-0 scoreline at half-time to Boreham Wood to grab a dramatic 3-2 victory in the last minute of extra-time.
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Wrexham had pipped them to automatic promotion to League Two, despite amassing 107 points.
Their second place finish meant they'd have to do it the hard way through the play-offs, and now are one step closer.
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Boreham Wood finished an incredible 35 points behind Notts County, but came so close to knocking their opponents out of the play-offs.
Femi Ilesanmi and Lee Ndlovu had given Boreham Wood a first-half lead and set them on an apparent path to victory.
Aden Baldwin got one back just after half-time for Notts County, but a 65th minute penalty miss appeared like it would not be their day.
Baldwin then got an equaliser in the seventh minute of stoppage time to take it extra-time.
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Just as it appeared as though the match was heading to penalties, Jodi Jones scored a 120th minute winner to send the historic club to Saturday's final at Wembley.
It will not just be Notts County fans who are delighted at the scoreline, Wrexham co-owner Ryan Reynolds will be too as he was 'rooting' for them to go up with them.
After Wrexham had won promotion, he told BT Sport: "I'm not sure I can actually process what happened tonight. I'm a little speechless. One thing that has been running through my head is people who asked 'why Wrexham?'. This is why. What is happening now is why Wrexham.
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"Huge credit to Boreham Wood tonight. Also, this entire story, the reason we're sitting on the edge of our seat right now is because Notts County is so damn good as well. They deserve to go up.
"It's something Rob and I feel quite strongly about. We are rooting for Notts County. We want to see them go up to League Two and face them next year. They're incredible."