COSAFA Cup defending champions Zimbabwe were looking to secure a spot in the final at the expense of four-time champions Zambia.
The Zimbabweans were on the front foot in the first half, where skipper Knowledge Musona was key for the six-time Cosafa Cup champions.
However, the highlight of the half was when Austin Muwowo was denied by Elvis Chipezeze from the penalty spot when the Baroka FC goalkeeper produced a stunning save to ensure the score remained level at half-time.
Coach Rahman Gumbo's troops came back from the tunnel with more hunger, yet they failed to beat the stubborn defence manned by the likes of Clatous Chama, and ultimately, it ended with no goals after 90 minutes.
In the penalty shoot-out, Tandi Mwape, Jackson Chirwa, Mwila Phiri and Bruce Musakanya all converted their spot kicks to ensure coach Aggrey Chiyangi's side walked away with a 4-2 win.
On the other hand, the likes of Khama Billiat, Admiral Muskwe missed their kicks and although Marvellous Nakamba, as well as Tendayi Darikwa's, were successful with theirs, it was not enough for them to secure a win.
Resulting from the win for the 2012 African champions, Zambia have now set up a date with the Zebras of Botswana in the final, scheduled for 15h00 at the 2010 Fifa World Cup venue on Saturday.