There were scenes of jubilation after Ebbsfleet United won their play-off semi-final second leg tie 3-2 on penalties against Whitehawk on Sunday.
Fleet booked their spot in next weekend's play-off final despite being second best in a game they lost 2-1 at Stonebridge Road.
The visitors started brightly and took the lead on four minutes when David Martin's cross was volleyed in by Nick Arnold.
Fleet responded well and levelled on 24 minutes through a Kenny Clark header.
Whitehawk retook the lead on 51 minutes to force the game into extra-time and, with neither side able to find another opening, penalties awaited.
Jordan Parkes, Charlie Sheringham and Matt Godden slotted home their spot-kicks and stopper Nathan Ashmore kept out Jake Robinson’s strike to settle the shootout.
McMahon said: “We are delighted to be in the final. We have worked hard all season for this. We went through a range of emotions today and we are delighted.
“Nathan is a big presence in goal. You would not want to take a penalty against him and he was excellent for us.”
He added: “I thought in the first half we were okay but in the second they got the better of it. In extra time it was two tired teams.
“You were looking at maybe a mistake or a moment of brilliance but it did not come and penalties it was. I was confident.”
McMahon was critical of Ebbsfleet’s inability to push on in the first leg and said this gave the Hawks a boost going into the Kent clash.
“We could have killed them off on Wednesday night. I think they got a chance at our place and they would have drawn confidence from that,” he added.
“They are a fantastic side but I think we deserve to be in the final.”
Looking ahead to the final, McMahon insisted he does not intend to change his methods.
He said: “I will not treat it any different at all – it is just a game, just 90 minutes.
“There is a lot riding on the game but you have to take that away from the players. It boils down to one game.”
Ebbsfleet face Maidstone United in the National League South play-off final at Stonbridge Road on Saturday.
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