SUITA, Osaka (Kyodo) -- Substitute Isa Sakamoto netted with virtually the last kick of the game to send Gamba Osaka through to the Emperor's Cup final with a thrilling 3-2 extra-time victory over Yokohama F Marinos on Sunday.

Dani Poyatos' men will contest the Nov. 23 final at Tokyo's National Stadium against Vissel Kobe following their 2-1 victory at home to Kyoto Sanga in Sunday's other semi.

The semifinal at Gamba's Panasonic Stadium home looked set to be decided by penalties until Sakamoto struck the winner in the last of five additional minutes in the second half of extra time.

The visitors appeared to have sealed the result when skipper Ken Matsubara nudged the ball over the line for a 2-1 lead in the 88th minute after Gamba keeper Jun Ichimori parried Anderson Lopes' shot.

But Gamba sent it to extra-time with a last-gasp set piece that saw Shinnosuke Nakatani angle a header into the net off Tokuma Suzuki's cross.

Sakamoto clinched victory with his stellar solo effort after the referee signaled advantage for a foul on Takashi Usami as he released his 21-year-old teammate into space. With plenty of work still to do, Sakamoto dribbled and feinted past his defender and chipped Marinos keeper Hiroki Iikura.

"It was a long and tiring game but I'm happy with the result," Sakamoto said. "I dream about contributing the winning play every game, and I was able to do it today."

Gamba midfielder Kota Yamada volleyed home the opening goal in the 26th minute after a headed clearance floated to him outside the area. Marinos hit back in the 37th minute through Yan Matheus, who curled in the equalizer off an assist from Brazilian compatriot Lopes.

At Kobe's Noevir Stadium, Daiju Sasaki scored the 55th-minute winner after Sanga forward Marco Tulio canceled out Taisei Miyashiro's opening goal. Currently second in the J-League top flight, defending J1 champions Kobe are in contention for the league and cup double.