Palace's 0-0 draw at Fredrikstad last night saw them win their playoff tie 1-0 on aggregate.
"We've been defending really well," Richards told Channel 5 after full-time. "But they are a good team and they threw everything at us.
"I'm glad we came away with the draw to advance. Not every game is going to be pretty, but as long as you get a result that's the big thing.
"Before the season we had a few goals and this was goal number two, the first was the Community Shield, then advancing in the Conference League.
"Everyone is excited. We're an ambitious club and I think we've shown that over the last year. Now it's time to win some games in Europe!
"I think I'm more excited for the fans as it's the first time this club has experienced it. We're really happy and ready to make history."