Roma now meet Inter Milan in the two-legged final on June 12 and 15.

The victory also earned Roma a UEFA Cup berth as Inter have gained a spot in the Champions League qualifying round through their guaranteed third-place finish in Serie A.

Brazilian Mancini put Roma in front with a 21st-minute header from a deep cross by Leandro Cufre. Antonio Di Natale levelled for Udinese from close range in the 57th.

The game looked to be heading for extra-time when Mancini was brought down by Udinese's Slovenian keeper Samir Handanovic and a penalty was awarded.

Handanovic parried Totti's spot-kick but the Roma captain pounced on the loose ball to score.

Udinese had their Chilean midfielder David Pizarro sent off in injury time for retaliating against Vincenzo Montella.

The win was a timely boost for Serie A strugglers Roma.

Coach Bruno Conti, whose side are three points off the relegation zone with two games remaining, will be without match-winner Totti for Sunday's trip to rock bottom Atalanta.

Totti must serve the last game of his five-match suspension.

Udinese are level on points with Sampdoria in the fight for fourth place in Serie A, which also yields a place in the qualifying round of the Champions League.

Inter reached the final after a 3-1 (aggregate 4-2) win over Cagliari on Wednesday.