Shrewsbury's Challis (right) shields the ball from Barnet's Hatch (left)
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(2-2 on aggregate after extra-time, Shrewsbury win 5-3 on penalties)
Shrewsbury beat Barnet on penalties to win the Nationwide Conference play-off semi-final second leg at Gay Meadow.
The home side went through 5-3 after keeper Scott Howie saved the crucial penalty from Barnet's Simon Clist before Darren Moss hit the winner.
The score was locked at 2-2 on aggregate after extra time following a first-half penalty from Shrewsbury's Luke Rodgers.
Shrewsbury will play Aldershot, who beat Hereford 4-2 on penalties.
For Shrewsbury, Jake Sedgemoore, Jamie Tolley, Rodgers, Colin Cramb and Moss all converted from the spot, while Ben Strevens, Guiliano Grazioli and Ismail Yakuba scored for Barnet.
Seconds from the end of the first period of extra time, Barnet keeper Shane Gore made a spectacular save from Ryan Lowe's header after a dazzling run and cross from man-of-the match Rodgers.
The stop was crucial as the silver goal rule would have handed the match to the leader after the first 15 minutes of extra time - though referee Robert Pollock had to leave the field to check in his notes.
Rodgers' solitary 44th-minute goal - a penalty for hand ball from Barnet's Liam Hatch - was enough to set up the extra time after the first leg finished 2-1 to Barnet.
Shrewsbury's Tolley squandered a late chance for glory inside the last 10 minutes of regulation play with a free shot from the edge of the area but blasted way over the bar.
Soon after team-mate Duane Darby manufactured himself some space but his shot was crucially blocked by Chris Plummer.
Shrewsbury: Howie, Moss, Ridler, Tinson, Challis, Lowe, Tolley,
O'Connor (Edwards 45), Aiston (Sedgemore 114), Rodgers,
Darby (Cramb 105).
Subs Not Used: Quinn, Hart.
Goals: Rodgers 44 pen.
Barnet: Gore, Hendon, Plummer, Maddix (Redmile 59), King,
Yakubu, Gamble, Lopez (Clist 55), Strevens, Grazioli, Hatch.
Subs Not Used: Millard, Rooney, Pearson.
Booked: Hendon.
Attendance: 7,012
Referee: B Pollock (Liverpool).