After five long weeks, Australia have earned the right to take on the Kiwis in a dream World Cup final next weekend after the Kangaroos trounced Fiji 64-0 at Wembley.
The Kiwis looked to be heading for a shock loss to England before a last minute try to Shaun Johnson clinched a thrilling 20-18 victory for the reigning champs.
The Kangaroos were clinical and ruthless in the second semi-final as they raced in 11 unanswered tries to themselves a shot at revenge following their defeat to the Kiwis in the 2008 World Cup final.
Australia will go into the final having not conceded a try in their last four games while the Kiwis were lucky to survive after the best game of the tournament ended in heartbreak for the host nation.
A crowd of 67,545 turned up at Wembley and England looked set for victory after Sam Burgess put them ahead 18-14 with a try in the 67th minute.
Burgess was inspirational for England but not long after he was announced as man of the match the home crowd's cheers were silenced when James Graham was penalised that gifted the Kiwis another set in the final minute.
And with just 30 seconds left on the clock Johnson stepped past England captain Kevin Sinfield who had come charging out of the line as the Kiwis sealed a dramatic victory. Johnathan Thurston was named man of the match in Australia's win while Jarryd Hayne finished with a hat-trick.
Australia piled on six first half tries including a double to Hayne as the Kangaroos charged to a 34-0 lead. Johnathan Thurston opened the scoring after just nine minutes when he sliced through down the left edge and Darius Boyd was the next to cross in the 15th minute running off Greg Inglis.
Cronk Cronk started and finished the next try in the 19th minute when he put up a cross-field bomb and backed in support to Hayne who sent him over for Australia's third try. Hayne kept the Kangaroos in pace with the clock when he touched down for his first try in the 22nd minute running off Inglis before Josh Papalii scored his first Test try in the 35th minute.
Hayne's second try in the 40th minute made it 34-0 at the break.
More tries followed in the second half with Tamou, Boyd, Hayne, Morris and Fifita all going over as the Kangaroos charged into the final on the back of a 64-0 shutout.
