England needed extra time to beat Denmark but a Harry Kane goal from a penalty rebound was enough to advance to the Euro 2020 final.
The hosts fell behind to a Mikkel Damsgaard free-kick in the first half but levelled when Raheem Sterling forced a Simon Kjaer own goal.
A tired-looking Danish side had to hold out from 75 minutes onward but managed to take it to extra-time.
But a controversial penalty gave England the chance to earn a return to Wembley on Sunday and, while Kane's initial kick was saved by Kasper Schmeichel, the striker tucked away the rebound.
The Three Lions will be back on home turf for the showpiece game on Sunday as they face Italy in their quest for a first major trophy since 1966.
An early Kane cross looked dangerous but Raheem Sterling in the middle just couldn't make up the ground quick enough to get on the end of it.
Sterling was again fed by Kane and took on Andreas Christiansen before shooting, but didn't connect properly and Schmeichel was able to gather.
Emil Hjojberg pinched possession deep in England's half but his strike was comfortable for Jordan Pickford.
English hearts were in mouths when Damsgaard looked for the top corer with a right footed effort, and Pickford was relieved to see it fly wide of his left hand post, albeit not by much.
His next effort hit the bullseye and silenced Wembley.
Christiansen was hauled to the deck in a dangerous position by Luke Shaw, and Damsgaard stepped up to send a dipping, swerving effort into the top corner leaving Pickford without a prayer.
Sterling and everyone else inside Wembley thought he'd drawn the hosts level with a first-time strike from point blank range, but Schmeichel denied him with a stunning reaction stop.
There was nothing he could do a minute later when Saka squared the ball, this time taking the Danish 'keeper out of the equation, and Simon Kjaer turned the ball into his own net before Sterling could tap home.
Harry Maguire almost gave England the lead 10 minutes after the break but his header was clawed away by Schmeichel, the Leicester City man flying across his line to keep it at 1-1.
Denmark had looked dangerous in the early stages of the first half but England soon began to turn the screw.
Schmeichel had to be alert to tip a Mason Mount cross over the bar as it looked set to sneak in at the far post.
The hosts appealed for a penalty when Harry Kane went down under Christian Norgaard's challenge but the referee deemed it a foul the other way.
It had been a physically and emotionally exhausting tournament for the Danes, and they looked out on their feet in the closing stages of normal time.
Schmeichel was the hero again as he denied Kane after the restart, with the goalkeeper also beating away a fierce Jack Grealish drive.
England were camped around the Danish box but when the killer goal did come it was a controversial one.
Sterling squeezed past Joakim Maehle in the box and went sprawling the ground under minimal contact.
After a VAR review the spot kick was given though, and while Schmeichel saved Kane's initial effort the Tottenham striker slotted home the rebound.
