STEPHEN Darby's spot kick put Town in the play-off final as Danny Wilson's men won 5-4 on penalties at Charlton.
The Addicks were 2-1 up on the night thanks to a Simon Ferry own goal and one from David Mooney, both coming in the first half, but Danny Ward's second half effort put Swindon right back in contention.
Both sides went down to 10 men, with Gordon Greer and Miguel Llera both receiving straight red cards in the second half.
With no further goals, Nicky Bailey's shootout miss for the Addicks allowed Darby to slot home the winner, to set up a meeting with Millwall or Huddersfield for a place in the Championship.
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