The Ravens secured their spot with a 2-1 aggregate win after conceding a scoreless draw at home last weekend.
Jonathan Rubio opened the scoring for the Angolans in the 29th minute to give them an advantage in this tie.
However TP Mazembe pulled off a stunning come back scoring twice in the final minutes of the game.
Philippe Kinzumbi netted a crucial equalizer in the 86th minute, followed by Joel Beya's dramatic strike in the 90+6 minute, securing Mazembe's semi-final ticket.
The five-time African Champions are now set to face defending champions Ahly in a two-legged tie scheduled for 19 and 26 April. The first leg will be played in Lubumbashi and the return leg in Cairo.
TP Mazembe, seeking their first title since 2015, view the Egyptian giants as their most formidable opponents in this quest for continental glory.
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