In a match which ended 2-2 after extra-time, with all four goals scored in the first half, Bahrain proved the sharper of the two teams from the penalty spot and they can now look forward to Sunday's final against Saudi Arabia.
Saudi Arabia defeated hosts Qatar 1-0 in the other semi-final.
Iraq had a dream start, opening the scoring after only six minutes through Muhanad Ali, who pounced when Bahrain goalkeeper Sayed Shubbar failed to hold on to Alaa Abdulzahraa's powerful free-kick.
Bahrain were far from disheartened as they pushed forward and drew level on 15 minutes with Abdulla Al Hazaa heading home a cross past Iraq goalkeeper Jalal Hasan.
Bahrain's joy lasted only three minutes as Amjad Attwan sent a lovely cross from the back to Ibrahim Bayesh (pictured above), who sneaked behind the defenders before chipping the ball over the advancing Shubbar.
Bahrain equalised in added time as Mohamed Marhoon (pictured below) controlled the ball with his chest before slotting the ball into the net.
Both teams had chances to go ahead in the second half, with Bahrain coming closest through Mohamed Abdulwahab, whose effort was parried by Iraq goalkeeper Hassan two minutes into the restart while Iraq's Muhanad Ali saw his volley go just wide in the 73rd minute.
Extra time failed to separate the sides and the tie was decided when Iraq's Mohammed Qassim failed to convert from the penalty spot as Bahrain moved within a game of adding to the 2019 WAFF Championship title they won in August at Iraq's expense.
Photos: AFP
