The Panthers have earned their shot at redemption for last year's grand final heartbreak, edging the Storm in an engrossing 10-6 win to book a spot in the decider against the Rabbitohs.
Next Sunday will see the Panthers shoot for their first premiership since downing the Roosters in the 2003 grand final, after a typically resolute defensive performance held the Storm to their lowest score of the season.
A converted Ryan Papenhuyzen try, which came off a ricocheting Cameron Munster grubber, saw Melbourne claw the deficit back to 10-6 in the 63rd minute.
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But Craig Bellamy's men, missing co-captain Christian Welch and gun hooker Brandon Smith due to failed head injury assessments early in the game, were unable to complete a comeback win.
Penrith grabbed the opening points of the game through a Stephen Crichton try in just the fourth minute, after a pinpoint Nathan Cleary kick set up the electric centre untouched on the right wing.
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The Panthers' only other try came through star winger Brian To'o just two minutes into the second half, when the NSW Blues weapon iced a sweeping passage of passes on the left edge.
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In a match in which two players failed a HIA, several others finished the game injured and the two sides played every minute of the contest at a frenetic and bruising intensity, the Panthers' win ensured the Storm would fall short of a grand final appearance for just the second time in the last six years.
Standing in the way of the Panthers' quest for grand final glory is a Rabbitohs outfit that toppled Penrith in the opening week of the finals.
South Sydney sprung a 16-10 upset over Penrith in their qualifying final, before enjoying a week off and eliminating Manly in a 36-16 preliminary final win on Friday night.
The Rabbitohs hope to send off departing coach Wayne Bennett and Broncos-bound halfback Adam Reynolds with a premiership.
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