Senegal are through to their third Africa Cup of Nations final with Sadio Mane on target to help them overcome Burkino Faso.
In an eventful game, VAR chalked off two Senegal penalties, with Burkina Faso goalkeeper Herve Koffi injured during the events of the first.
Abdou Diallo and Idrissa Gueye put Senegal in charge before Blati Toure narrowed the deficit late on.
But Mane chipped in to settle victory for the tournament favourites.
It was Mane's 29th goal for his country, taking him level with Henri Camara at the top of their all-time scorer list.
Senegal will face Egypt or hosts Cameroon in Sunday's final (19:00 GMT).
Burkina Faso will take part in the third/fourth-place play-off, which has been brought forward a day to Saturday (also kicking off at 19:00).
"It shows you the momentum we have," said Mane. "We knew it was not going to be at all easy to get to two straight Afcon finals, but the most important for us now is to go all the way and win it, whoever we come up against.
"We were up against a really good Burkina side who caused us a lot of problems.
"We expected a tough game and it was, but we stayed calm and created lots of chances. I think we deserved to win.
"I think you can see on my face how happy I am, which is completely normal. I am really proud personally and very happy for myself, my team-mates and the country."
Superior Senegal break Burkina Faso's stubborn resolve
Senegal have twice appeared in the Afcon final before without winning the event, in 2002 and 2019
Just four minutes into the game at the Ahmadou Ahidjo Stadium in Cameroon's capital Yaounde, there was a serious clash of heads following a fully-committed 50-50 challenge between Nampalys Mendy and Cyrille Bayala.
It set the tone for what would be a full-blooded and fiercely-contested last-four clash between two sides who have both reached the final of this competition in the past but never won it.
Senegal are the highest ranked side in Africa - 20th in Fifa's global list - and their extra class ultimately told.
They were teased with the opportunity to open the scoring twice before the break, with Koffi's aerial clash with Cheikhou Kouyate and Edmond Tapsoba's elbow-block on Idrissa Gueye both adjudged to be penalties on the field.
But both were correctly overturned by referee Bamlak Tessema Weyesa after he had been called to view them on the monitor by the video officials.
There was still a cost to Burkina Faso, with Koffi forced off hurt in the 36th minute after awkwardly landing on Crystal Palace midfielder Kouyate as he tried to punch clear.
That they took the contest so deep is a tribute to their fortitude and a defiant performance that gave the favourites more than one scare, mainly via the direct running of Aston Villa's Bertrand Traore.
After Idrissa Gueye had slotted in to make it 2-0 in the 76th minute - six minutes after Diallo's finish following a corner - Kamou Malo's side could have wilted.
But Toure gave them brief hope with his 82nd-minute effort, before Senegal talisman Mane fittingly had his say on the occasion with a driving run and chipped finish three minutes from time.
It leaves the tantalising prospect of a final showdown with his Liverpool team-mate Mohamed Salah if Egypt reach the final - a game in which Mane will be looking to break his country's goals record in fine style.
'Mane has no ego at all'
Former Nigeria striker Efan Ekoku, speaking on BBC Three:
Sadio Mane plays like a guy who is 18, 19 all the time. He has a real desire.
He has real unselfishness and when he plays for his country there is no ego at all.
He is one of my favourite all-time players in world football, I can't think of anyone else I would want in my team.
Line-ups
Burkina Faso
Formation4-3-3
16Koffi
9Kaboré14Dayo12Tapsoba25Yago
20Sangaré24Guira22Touré
19Bandé10Traoré21Bayala
16KoffiSubstituted forOuédraogoat36'minutes
9Kaboré
14Dayo
12Tapsoba
25Yago
20Sangaré
24GuiraBooked at 28minsSubstituted forOuattaraat81'minutes
22Touré
19BandéSubstituted forTapsobaat81'minutes
10Traoré
21BayalaSubstituted forSanogoat60'minutes
Substitutes
1Sawadogo
2Ouattara
3Traoré
4Ouattara
5Malo
6Simporé
7Traoré
11Konaté
15Tapsoba
17Sanogo
18Ouédraogo
23Ouédraogo
Senegal
Formation4-2-3-1
16Mendy
20Sarr3Koulibaly22Diallo2Ciss
8Kouyaté6Mendy
15Dieng5Gueye10Mané
19Diédhiou
16Mendy
20SarrBooked at 50mins
3Koulibaly
22Diallo
2Ciss
8KouyatéSubstituted forGueyeat65'minutes
6MendySubstituted forCisséat90+2'minutesBooked at 90mins
15DiengSubstituted forSarrat78'minutes
5Gueye
10Mané
19DiédhiouSubstituted forSarrat65'minutes
Substitutes
1Dieng
4Cissé
7Keita
11Diallo
13Lopy
17Sarr
18Sarr
21Mbaye
23Gomis
24Name
26Gueye
27Thiam
Referee:
Bamlak Tessema Weyesa
Match Stats
Live Text
Match ends, Burkina Faso 1, Senegal 3.
Second Half ends, Burkina Faso 1, Senegal 3.
Pape Abou Cissé (Senegal) is shown the yellow card for a bad foul.
Foul by Pape Abou Cissé (Senegal).
Bertrand Traoré (Burkina Faso) wins a free kick in the defensive half.
Substitution, Senegal. Pape Abou Cissé replaces Nampalys Mendy.
Offside, Burkina Faso. Blati Touré tries a through ball, but Djibril Ouattara is caught offside.
Corner, Burkina Faso. Conceded by Pape Sarr.
Goal! Burkina Faso 1, Senegal 3. Sadio Mané (Senegal) left footed shot from the left side of the box to the high centre of the goal. Assisted by Ismaïla Sarr following a fast break.
Attempt missed. Pape Gueye (Senegal) left footed shot from outside the box is close, but misses to the right. Assisted by Pape Sarr.
Goal! Burkina Faso 1, Senegal 2. Blati Touré (Burkina Faso) right footed shot from the centre of the box to the bottom right corner. Assisted by Issa Kaboré with a cross.
Substitution, Burkina Faso. Djibril Ouattara replaces Adama Guira.
Bertrand Traoré (Burkina Faso) wins a free kick in the attacking half.
Attempt missed. Zakaria Sanogo (Burkina Faso) right footed shot from more than 40 yards on the left wing is high and wide to the right from a direct free kick.
Foul by Pape Sarr (Senegal).
Steeve Yago (Burkina Faso) wins a free kick in the attacking half.
Substitution, Senegal. Pape Sarr replaces Bamba Dieng.
Goal! Burkina Faso 0, Senegal 2. Idrissa Gueye (Senegal) right footed shot from the centre of the box to the centre of the goal. Assisted by Sadio Mané.
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