The Nigerian side defeated Senegal 88-79 in overtime to reach the final.
After both teams tied at the end of the fourth quarter on 76-76, the game went into overtime.
D’Tigers were able to edge the Senegalese and book their place in the final.
The last time they qualified for the final was in 2003.
Nigerian will either meet host of this year’s edition, Tunisia, or Angola in the grand finale.
D’Tigers had earlier lost to the Tunisian side in the last group game.
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