After a Nathan Ashmore inspired Boreham Wood had kept the lively hosts at bay, Will Smith headed George Thomson’s corner towards goal, with Muldoon applying the crucial touch ahead of the Wood stopper.
“We were relentless,” said jubilant Harrogate boss Simon Weaver. “There was a little bit of a lull after halftime but the character shone through for me.
“We are in this position because of the team spirit around the place and the prospect of Wembley now is a thrill for everyone.
“We’re still one game away from where we want to be and we have to do the job, but you have to enjoy moments like this.
“To come from where we were 11 years ago, it has been a great journey to be involved with and we can’t wait to see where it takes us.”
The Harrogate boss handed a long-awaited debut to striker Aaron Martin, who had signed just days after Town’s scheduled fixture at Solihull was postponed due to Coronavirus.
The former Guiseley striker partnered Town’s top scorer Muldoon in attack, with Thomson and Jack Diamond completing a dangerous-looking front four.
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