The USA were twice pegged back by Canada in the CONCACAF Women’s Gold Cup semi-final before progressing on penalties.
The US had reached the last four with a 3-0 defeat of Colombia, while Canada just got the better of Costa Rica 1-0 after extra-time.
Jaedyn Shaw intercepted a backpass that fell short on the soaked surface to open the scoring for the USA, Jordyn Huitema levelling with eight minutes left to force extra time.
Sophia Smith restored the lead, before Adriana Leon ensured the tie would be decided on a shoot-out by equalising seven minutes into stoppage time.
Alyssa Naeher saved penalties from Huitema and Jessie Fleming, as the US went through 3-1 om spot-kicks.
Brazil earlier defeated Mexico 3-0 in the first semi-final, Adriana and Antonia scoring before the break, Yasmim completing the scoring three minutes after the interval.
Brazil had won through the quarter-finals 5-1 against Argentina, while Mexico had edged out Paraguay 3-2.
The final is at the Snapdragon Stadium in San Diego on Sunday 10 March, live on the CONCACAF YouTube channel, with kick off at 00.15am (Monday) UK time.