After going out in the last four springs they have to overcome a one-goal deficit at Sincil Bank on Thursday to reach the Final again.
Their manager John Schofield was happy enough with the final result against a resurgent Rovers side that were 16th in the table in mid-March.
Six wins and two draws in their last eight game put them in the play-offs and they were first to score here.
Rickie Lambert, who freely admits he was initially a £200,000 misfit when he joined from Rochdale in the autumn, pulled out a searching far post cross from just inside the right touchline.
Sensing it was the goalkeeper's ball, Lincoln were slow to react and were beaten by Craig Disley's flying header into the top right-hand corner of Alan Marriott's net.
It was a spectacular goal and, as Rovers pressed in search of a second goal, Lincoln panicked and their centre-back Nat Brown was cautioned for flattening Richard Walker - the only card of the tie.
Marriott kept Lincoln in the game with the pick of his saves an acrobatic deflection as Lewis Haldane, with his back to goal, volleyed from 12 yards.
Lincoln equalised with a long free-kick from Jeff Hughes which, caught by the wind, swirled past a line of defenders.
It was just the boost the Red Imps, the long-time favourites for automatic promotion needed, but nine minutes into the second half they were behind again from another free-kick.
Once again the wind played its part as Walker sent in a raking shot from Stuart Campbell's kick which gave Marriott no chance.