The lead changed hands four times in a tight encounter but England finished strongly and were guided to victory by 18 points from the Leicester fly-half George Ford.
England moved 20-18 ahead just before the hour mark when Saracens full-back Ben Ransom added to first-half tries from Wasps wing Christian Wade and Ford.
Two Ford penalties then put England in control and captain Alex Gray, the Newcastle number eight, wrapped up the victory with a try from his own half in added time.
England will face New Zealand in the final after the defending champions beat Australia 37-7 to record their 19th consecutive victory.
New Zealand's Baby Blacks beat England in the final in 2008 and 2009.
Gilbert has released a new line of rugby cleats. The Gilbert Virtuo 8S is part of the exciting new product. Check it out.
The entire All Blacks apparel line has been updated for 2013/14. Check out the New Zealand All Blacks polo.
The Nike Tiempo is a solid rugby cleat and one of few styles still made from full-grain natural leather.
The Gilbert Blitz 8S rugby cleat is a great cleat at a great price of $69.99. Get a new pair of cleats today.
A cool looking all black rugby cleat with the high performance adidas is known for. Get in the Gear!
Wear the crest of the British and Irish Lions on your t-shirt. A great look for the summer.
The All Blacks Performance t-shirt is black with hints of blue from the training jersey. Very Cool.
The New Zealand All Blacks training jersey for 2013/14. Get in the Gear!
The USA Rugby Pro Alternate rugby jersey is perfect for any fan of the Eagles. Get yours to wear during the summer Test matches.
The NEW All Blacks 2013/14 jersey has arrived at World Rugby Shop. Dare to wear the colors of the All Blacks.