Liverpool was confident of making another trip to the Champions League final the moment the referee blew the whistle for penalty kicks.
Little could separate Liverpool and Chelsea over 120 minutes of the second leg of the home-and-home semifinal, and the hosts won 1-0 on Daniel Agger's goal in the 23rd minute.
Neither team scored during the 30 minutes of overtime, leaving the aggregate tied 1-1; Chelsea won at home 1-0 last week.
And the Reds are the Champions League's shootout specialists.
Two years ago, that's how Liverpool beat AC Milan to win its fifth European title. The team didn't disappoint at Anfield on Tuesday.
"It was very special for me. It's going to be my first final," said Dirk Kuyt, who scored the winning penalty kick.
Liverpool goalkeeper Pepe Reina saved the first and third Chelsea penalties from Arjen Robben and Geremi.
Boudewijn Zenden, substitute Xabi Alonso and captain Steven Gerrard also converted their penalty kicks for Liverpool to win 4-1.
Only Frank Lampard hit the net for Chelsea.
"We had confidence because we had players who practice in every training session. They like to do it," Liverpool manager Rafa Benitez said.
In the May 23 final in Athens, Liverpool faces either Manchester United or AC Milan, which plays its second leg Wednesday. United has a 3-2 advantage from the first game, but plays at Milan.
"Just a last step, Reina said. "We must do it "
Kuyt also had a goal disallowed in the 10th minute of extra time, and his powerful shot was saved by Peter Cech with only a minute to go.
Chelsea coach Jose Mourinho said his was the better team.
"Everybody has to try to be strong. I think they have a lot of reasons to be proud of themselves " Mourinho said. "They were the best team today ... In extra time we were the only team who tried to win, but football is like that and the penalty shootout is part of the game "
This is the third time Chelsea has lost in the Champions League semifinals. It was beaten by Liverpool in 2005 and by Monaco in 2004.
Gerrard said comments attributed to Mourinho before the game had annoyed his teammates.
"I think he was a bit disrespectful calling us a little club " Gerrard said. "Two finals in three years -- not bad for a little club."
Liverpool has won the European title five times, including the penalty-kicks victory over AC Milan two years ago after rallying from a three-goal deficit. Manchester United won in 1999 and 1968, while AC Milan has won the championship six times, the last in 2003.
With American owners George Gillett Jr. and Tom Hicks looking on, Liverpool got a brilliant goal from Agger. He benefited from poor marking by Chelsea on Gerrard's free kick.
Instead of sending the ball into the penalty box, Gerrard squared the free kick to Agger. The Danish defender flicked the ball with his first touch low inside Cech's right post for his first Champions League goal.