Twice European Club rugby champions Leicester beat Welsh side Cardiff Blues 7-6 in a kick-off at the Millennium Stadium to set up a Heineken Cup final with Irish side Leinster.
Leicester number eight Jordan Crane slotted home the match-winning kick from the 22 after Cardiff flanker Martyn Williams had missed.
Cardiff had earlier mounted a 14-point comeback to level the scores 26-all after normal time. There was no score in extra time.
