Wardman pulled off several superb saves to keep Pier in the game at Sherburn against Newlands, who also hit the crossbar and the post in an opening 45 minutes dominated by the visitors.
The hosts took the lead on the stroke of half-time against the run of play, Paul Provins heading the ball over the line after Neil Thomas’ header had hit the bar.
The home side defended better after the interval, but Wardman still had to make a couple of stops to keep his side in front, though Pier also had chances to double the lead with Callum Myers making fine saves for the visitors.
Just as it looked as if the hosts would hang onto their lead, Chris Dove struck with a free-kick deep into injury-time to take the tie to penalties.
Dove opened the scoring for Newlands, but Provins levelled for the hosts. Park striker Sean Exley missed his spot-kick and Gaz Thomas made it 2-1.
Matty Griffiths also missed and Martin Cooper put Pier 3-1 up and on the verge of victory. Jack Hakings pulled it back to 3-2 but Will Jenkinson stepped up knowing that if he scored then Pier would go through, but his shot hit the post.
Danny Jenkinson levelled for Newlands but Pier still had the chance to win it with their fifth and final spot-kick, but James Wardle’s effort was saved by Myers.
Kile Fields slotted in the first penalty of sudden-death, Steve Sheader replying and then keeper Myers and defender Andy Sheader also converted to bring it to 5-5.
Ricky Nock then missed his spot-kick and Tommy Barker stepped up to win it for Pier, he fired home but he was ordered by the referee to retake it, and he blasted home to seal Pier’s spot in the final against Filey Town.
Pier boss Andy Spivey said: “Scott Wardman had to be our man of the match as his saves in the first half kept us in the game when Newlands were well on top.”
Hakings was named as the man of the match for Newlands for a strong display in central midfield.
Filey Town Reserves kept on track for a league and cup double with a 4-1 home win against Edgehill Reserves in the Junior Cup.
The away team opened the scoring on 20 minutes when Martyn Ferrey’s free-kick hit the post and bounced back for Tom Hickin to slot home from close range.
Five minutes the home side levelled through a well-worked goal, a low cross from Tom Haxby tapped in by Joe Gage.
The hosts then went 2-1 ahead through Scott Sheldon and there were no further goals before the break.
Twenty minutes into the second half David Brannan fired in a penalty-kick after a handball in the area to make it 3-1 and Haxby then sealed the win with a cracking 20-yard shot after having closed down the Edgehill centre-back and taken the ball off him.
The whole Town team played well with Jamie Gallagher the cream of the crop with a vintage display from the centre of midfield.
Right-back Alex Sheader was the man of the match for Edgehill.