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Connacht beat holders Glasgow Warriors 16-11 at the Sportsground to set up an All-Ireland Pro 12 final against Leinster at Murrayfield next Saturday.
Glasgow were always playing catch-up after losing fly-half Finn Russell and prop Zander Fagerson to head knocks in the first minute, and went into the break 10-3 down after Niyi Adeolokun went over for a converted try, following earlier AJ MacGinty and Duncan Weir penalties.
Glasgow's Leone Nakarawa went over to make it 10-8 Connacht, but Pat Lam's side extended their lead again through another MacGinty penalty.
Weir reduced the deficit again, but MacGinty restored the five-point lead on 64 minutes, and Connacht held on despite Rodney Ah You's late yellow card.
"It is great to get to the final for the first time in our history," man-of-the-match Bundee Aki told Sky Sports.
"It is great for all those guys who have played for us, guys like our captain John Muldoon who has played more than 200 times for us. This win is him for him and all of those who have gone before us."
"I was very nervous during those last ten minutes - we knew Glasgow were going to come harder at us than they did two weeks ago, so credit to our boys for all the hard work they put in and effort throughout the week. We can go only go up from here, and hopefully all the support here will be with us in Edinburgh.
"I have never experienced an atmosphere like this - I have experienced a semi-final before but not one with an atmosphere like this- it was bloody brilliant, bloody awesome."
Glasgow full-back Stuart Hogg praised an "outstanding" Connacht side, and admitted that he hopes Pat Lam's side beat Leinster in the final next week.
"It is a tough one to take. We have been here before and we have to come back again next year fighting fit," he said.
"Discipline cost us - we gave away so many silly penalties, and in attack there were too many offloads not going to hand.
"These little things in final rugby make the difference - it was not our day today. Credit to Connacht as they were the better team - here's hoping [they win the title].