Down 21-7 Danville rallied back with 21 unanswered points in the second half to defeat Loyalsock and advance to the District 4, Class AA final.
The Ironmen will host Troy in next week's final.
Danville got a game-winning touchdown run from Zack Kozick with just 37 seconds left and Isaiah Croll intercepted a Kyle Datres pass to seal the victory.
Sam Dressler had two second-half touchdowns in the win for Danville.
Loyalsock struck first in the game as Datres scored on a 10-yard run and Austin Champion hit the extra point with 5:48 left in the opening quarter.
With 4:01 left in the first Datres connected with a five-yard touchdown pass to Omar Little and Champion hit the extra point.
Danville cut the deficit to 14-7 as Evan Tanner caught a 14-yard touchdown from Kozick with 33 seconds left in the first quarter and Shayne Riley hit the extra point.
Loyalsock made it 21-7 when Robbie Klein scored on a 24-yard run with Champion hitting the extra point.
With 3:43 left in the third Danville got to within 21-14 when Dressler scored on a three-yard run and Riley hit the extra point.
Just 37 seconds into the fourth quarter Dressler scored on a 10-yard run and Riley hit the extra point and Kozick's winner came with 37 seconds left with Riley tacking on the extra point.
Dressler ran for 152 yards on 29 carries in the game and Kozick had 47 yards on 15 carries, while Croll ran for 25 yards on six carries.
Kozick was 5-for-11 passing for 66 yards in the game.
Loyalsock got 56 yards on 15 carries from Klein and Datres ran 12 times for 36 yards, while Robbie Newton ran five times for 27 yards.
Datres was 9-for-21 for 114 yards. Defensively Datres also intercepted a pass in the game.
Little had four grabs for 60 yards in the game.