Speaking after the win, Junior Stars assistant coach Anthony Akhulia said they are happy with the win and praised the boys for their resilience and belief the whole match.
"It was a very entertaining game. The boys gave their all today. Despite starting the match rather very slowly, they picked up the pace in the second half and we were unlucky to get a goal before extra time.
"This match shows another side of the Junior Stars, that we can play high-intensity matches and grind wins through penalties. It is a very good game, especially heading into the finals," said Akhulia,
Junior Stars started off the match slowly building it through Stanley Omondi, Aldrine Kibet, and Joseph Khisia.
Several wing plays through fullback Barron Ochieng and winger Tyron Kariuki failed to bore any fruit as the Tanzanian defense stood tall clearing any crosses into changes the box.
Unlucky in the first half, Salim Babu made some changes introducing Kisumu Day's Dancun Omalla, Collins Ongou, Syphas Owuor, Joseph Onyango and Humphrey Aroko. Their impact was felt as Kenya dominated the closing 20 minutes of the final half.
Despite numerous attacks by Omalla, Ongou, and Aroko, Tanzania remained compact in addition to applying time-wasting tactics deployed by their goalkeeper as the game ended 0-0 at 90 minutes.
Extra time was more of the same, balanced attacks from both sides and missed chances that sent the game to penalties.
Meanwhile, Uganda knocked out Rwanda 1-0 in the early kickoff match.
Uganda will play Kenya at Jomo Kenyatta Stadium on Friday. The final will come after a third-place playoff match between Tanzania and Rwanda.