For 94 minutes, Boston United thought they would be advancing to the Conference final North play-off decider.
Chorley drew 0-0 at home with Boston United in the first leg and on Saturday Boston United took a 2-0 lead.
Chris Doyle pulled a goal back in the 56th minute but on 94 minutes it looked like Boston United would hold on.
Then a long ball into the box and some incredible heroics from Roscoe sent his side to the final, where they will play Guiseley.
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