The Giallorosse lost 3-2 on the day but progressed nonetheless on aggregate thanks to away goals – after winning the first leg 2-1 last month.
Betty Bavagnoli’s side will face AC Milan in the final, which is scheduled to take place on Sunday May 30.
It will be the side’s first final since the team's inauguration in 2018.
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"We have written ourselves into the history of this club," Bavagnoli said afterwards.
"Before the game, we talked with the girls about how great it would be, for this club and for our fans, if we could deliver them a final appearance. Fans that have always been with us, despite everything.
"We are delighted for them, for us and for all the work we've put in. It was the performance we wanted against a really good side."
Looking to defend the hard-fought advantage gained in the first leg – Juventus’s first defeat at domestic level for almost two years – the Giallorosse started brightly but soon fell behind, as Sofie Pedersen saw her header creep in off the woodwork.
At that point it was Roma who were going out on away goals, and Roma who knew they needed to find at least one goal to have a chance of progressing in the tie.
In the end they left it late, but delivered emphatically. It was Lindsey Thomas who scored the crucial goal to level the game, as she turned home after Elena Linari had steered a corner back into the danger area.
And it was a corner that proved critical once again moments later, as Paloma Lazaro nipped in at the near post to flick it home.
That turnaround left Juventus needing to score three times in just under 12 minutes to salvage the tie and reach the final.
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Fitting for a side that has swept all before them in recent seasons, the Bianconere nevertheless managed to score twice – albeit both of them coming in injury time – but, when the final whistle was blown immediately after Sara Gama’s finish to make it 3-2, Roma were able to celebrate.
“This is a massive boost for all of us – it’s our first final,” midfielder Manuela Giugliano said.
“This achievement is huge for us. We’ve worked hard every day to get better and now we’re seeing the results of that on the pitch.”
See more photos from the game in the gallery below!
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