The League Two club edged Aston Villa 4-3 on aggregate despite tonight's 2-1 loss with Hanson heading home ten minutes into the second half between Christian Benteke and Andreas Weimann's goals either side of the break.
25-year old striker Hanson was shocked to have contributed to the history-making result whilst goalkeeper Duke was also surprised at what he and his teammates had just achieved.
"I can't believe it, it really hasn't sunk in yet," said Hanson on Sky Sports 1.
"The lads dug in in the first half and I thought we were going to have our backs to the wall tonight.
"But we were actually pretty comfortable in the second half and we held on well."
Duke added: "I'm speechless. The lads had a fantastic game tonight and the fans as well, it'll be a great day at Wembley for them.
"Everyone had a great game.
"At 3-1 up, if we scored we fancied out chances and we fancied ourselves from set-pieces.
"As a kid playing football, you dream of Wembley and we're going to do it.
"We're going to take a League Two club to Wembley, we're going to take a massive following, it's going to be an amazing day and I'm looking forward to it."