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Dartford will be at home in the second leg of their play-off against Chelmsford after two late goals saw them climb a place in the final National League South table.
Needing to better Chelmsford's result at Hungerford in order to leapfrog them, Darts trailed 2-1 at Poole Town heading into stoppage-time.
Andy Pugh's opener had been cancelled out by Marvin Brooks before Steve Devlin put the Dorset side 2-1 up.
But after Tom Murphy had equalised two minutes into stoppage-time, Lee Noble won the game for Dartford with almost the last kick of the game.
Chelmsford were held 1-1 by Hungerford, who scored eight minutes from time.
Tony Burman's side will now go to Essex on Wednesday night before returning to Princes Park for the semi-final decider on Sunday.
The other tie sees runners-up Ebbsfleet face Hampton & Richmond Borough, who finished seventh but qualified for the play-offs due to ground grading issues at Poole and Hungerford, who finished fifth and sixth respectively.