Flo's miss for MK Dons kickstarted Scunthorpe's celebrations
Scunthorpe win 7-6 on penalties
Scunthorpe beat MK Dons on penalties to set up a League One play-off final against Millwall.
Former Chelsea striker Tore Andre Flo missed the ninth spot-kick of a tense shoot-out to hand the visitors victory.
Jude Stirling had earlier had a penalty saved in the shoot-out when he had the chance to win it for the home side.
There had been little to separate the teams and David Mirfin's stabbed shot hitting the post for Scunthorpe was the closest to a goal before penalties.
Scunthorpe had only secured a play-off spot courtesy of an 88th-minute Cliff Byrne goal on the final day of the season.
But on Sunday 24 May they will play a Millwall side they have beaten twice during the season for a place in the Championship.
The visitors came through the tie at MK Dons, despite being without 30-goal top-scorer Gary Hooper because of a groin injury.
They might have been ruing his absence when they created the first chance.
Scunthorpe had settled more quickly after a cagey opening to the game and Garry Thompson was put through on goal.
He cut inside defender Stirling but his touch then failed him and allowed Miguel Angel Llera to slide in and tackle with MK Dons keeper Willy Gueret gathering the loose ball.
MK Dons have lost seven games at home this season, including a 2-0 loss to Scunthorpe, and they belatedly showed signs of a threat on the visitors' goal late in the first half.
A powerful Sam Baldock shot was blocked by keeper Joe Murphy and Aaron Wilbraham scuffed a shot from the rebound wide of the far post.
MK Dons assumed the ascendancy after the break and Wilbraham fizzed a low angled effort just wide of the far post before MK Dons defender Llera almost gifted Scunthorpe a goal.
He failed to get enough purchase on a headed backpass and Hayes pounced on the loose ball only to flick a shot just wide as keeper Gueret beared down on him.
MK Dons piled on some late pressure but Scunthorpe refused to buckle as the game went into extra time.
Mirfin struck the post after the ball fell to him when a cross was not cleared before the dramatic penalty shoot-out win for the visitors.
Milton Keynes Dons manager Robert Di Matteo:
"We are massively disappointed. It's been a long season and I thought we deserved to go through.
"We had a slow start but we finished the first half well and I thought in the second half we brilliant.
"They have quality players in their team so it was always going to be difficult but we had chances to win the game.
"It's important the players are confident enough to take a penalty but we were in the driving seat after they missed. It's a real shame.
"The players have been fantastic this season, they have given me everything and in the end it just comes down to destiny."
Scunthorpe manager Nigel Adkins: "I enjoyed that, it was good. We practice penalties and having positive body language and they all strode up and looked as if they meant business.
"It comes down to a lottery after a long season ultimately decided on a spot-kick but we are pleased to get to Wembley and have the chance to get back to the Championship.
"We always fancy our keeper Joe Murphy to save one, he's been taking money off the other players all week."
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