Blues finished runners-up in the PDL North on 48 points - edging out Crewe Alexandra from the Play-Offs by a solitary pointbcfc.com
The game was locked at the break, with Blues indebted to a fabulous penalty save by Zach Jeacock in the 13th minute, tipping Elliot Holmes' effort onto the post.
Blues then exerted more control in the second-half and although Odin Bailey had a 63rd minute spot-kick saved, Kyle Hurst made no mistake with a 73rd minute penalty after Ryan Stirk was felled.
That breakthrough was vital and Blues went on to add a clincher, in the 88th minute, through Tommy Anderson.
Blues had to win to pip Crewe Alexandra to runners-up spot in the PDL North, which was won by Leeds United.
They now face winners of the PDL South Ipswich Town, away, on a date to be confirmed between next Friday and Monday in the Semi-Final.
Coventry City meet Leeds in the other Semi-Final.
Senior Professional Development Coach Richard Beale said: "It was a tight game. The pitch was a great leveller. It was not for the faint-hearted, not one for the beautiful game purists.
"We really had to dig it out and credit to the lads, they did just that.
"We conceded a penalty and Zach Jeacock made a fantastic save, it really was.
"That kept us in it to half-time, when we made a couple of adjustments which worked for us.
"We were more of a threat and got a penalty, when Corey O'Keeffe was taken out just as he was about to shoot, after a great ball over the top by Remeao Hutton.
"Odin Bailey took it and his shot went through the 'keeper but he managed to claw it back from the line.
"The next one, Kyle Hurst stepped up and slotted it in, sending the 'keeper the wrong way.
"We got the second at the end after Caolan Boyd-Munce played a lovely ball through and Tommy Anderson put it away well, past the 'keeper.
"It wasn't an easy game. The pitch was terrible, they were really up for it as well and it we had to play more of a percentage game.
"But we came through it and did what we had to do. Credit to the lads."
Blues: Jeacock, Hutton, Burke, Forrest, Redmond, Stirk, Boyd-Munce, Baker (Sauvage 59), Bailey (Anderson 85), O'Keeffe, Hurst. Subs not used: Bradley-Hurst, Dawes, McLean.