It was deep inside.
But after a close battle at Arrowhead Stadium, the Chiefs emerged victorious against the Bengals.
With eight seconds left, Kansas settled with a 45-yard field goal by Harrison Butker, winning 23–20.
The Super Bowl now awaits the Philadelphia Eagles, who won convincingly with the San Francisco 49ers 31-7 in the second semifinal.
The matchup will mark the first meeting of brothers ever on the field in a Super Bowl, as the Chiefs' Travis Kelce faces his big brother Jason Kelce.
In 2011, two brothers who coached each team met when Baltimore's John Harbaugh faced San Francisco's Jim Harbaugh.
Kansas' Patrick Mahomes also becomes the second quarterback ever to go to three Super Bowls in his first six seasons.
The Super Bowl is decided on the night between February 12 and 13 in Arizona.