Cameroon will face Egypt in the 2017 Africa Cup of Nations final after two second-half strikes saw off Ghana.
Both sides had gone close to breaking the deadlock before Michael Ngadeu-Ngadjui took advantage of atrocious defending from a free-kick to lash in the opener in the 72nd minute.
With seconds remaining Christian Bassogog sealed victory when he applied a deft finish to a counter-attack.
Ghana went close through Wakaso Mubarak and Christian Atsu.
Panathinaikos midfielder Wakaso tested keeper Fabrice Ondoa with a brilliant bending free-kick, and Newcastle's flying winger Atsu saw his angled strike drift past Cameroon's upright by inches.
"It is a real dream for us to get to the final," said the Belgian coach.
"Ghana have more experience than us - look at what they have done in recent tournaments. But since the start of this tournament we have shown we keep going right to the end in every game.
"I am more than unhappy. We wanted so much to be in the final," said Grant.
"We did everything to be there and in the second half we completely dominated. Congratulations to Cameroon of course but we were the better side and we lost."
The Black Stars will meet Burkina Faso in Saturday's third place play-off in Port Gentil.
-BBC