Northwich Victoria won 3-2 in their semi-final second leg match but Harriers hung on to progress 4-3 on aggregate and book their place in the final at the new Wembley.
"We played well for the first 10 minutes but still found ourselves 2-0 down," Yates told Non League Daily. "We really didn't do a lot wrong but I feared we had thrown away all the hard work from last week.
"Once we pulled a goal back, I was confident that we would go through. I was pleased with my players as they never lost their focus.
"I am absolutely delighted to be in the final and hopefully this will spur us on to make the play-offs. I don't want our season to fade out just because we've reached a final.
"A lot of people have written off our chance of making the play-offs, but we have twelve games left and I want to finish the season strongly. Hopefully we will have the both play-offs and the final to look forward to in May.
"The players have to remain focused from now until the end of the season. They have a lot to play for - including their place in the team."
Source: http://www.confguide.com/newsArticle.do?id=5918