Mamelodi Sundowns attacker Lyle Lakay struck a killer free-kick to send Ka Bo Yellow to the 2020 Nedbank Cup final.
Pitso Mosimane's side got the first goal of the night with a Ricardo Nascimento penalty, after Buhle Mkhwanazi had fouled Motjeka Madisha midway through the first half.
The second half began with Sundowns still holding on to 1-0, before Madisha's lost concentration gifted Terance Dzvukamanja an equalizer for 1-1. Just a few minutes later it was Madisha again with another blunder, and Dzvukamanja at the receiving end of the second gift for 2-1.
Wits goalkeeper Brighton Mhlongo, needed a minute to throw the lead when he misjudged a longball to gift substitute Keletso Makgalwa the equalizer for 2-2.
Just when it looked like the match was heading for extra time, Lakay stood above a free-kick outside Wits' box, before whipping in a perfect banana into the corner for 3-2 in the last kick of the game.
Sundowns will face Bloemfontein Celtic for the 2020 Nedabank Cup final, with the date yet to be announced.