Martin Corry, Ben Kay, Lewis Moody, Dan Hipkiss and George Chuter all played a part as France were beaten 14-9 in Paris and the defending champions secured a place in the final next weekend.
England got off to a great start with a Josh Lewsey try in the opening minutes, but trailed 6-5 at half-time. Then Jonny Wilkinson scored two penalties - including one with five minutes remaining - and a late drop goal to overcome the hosts.
Corry and Kay played the full 80 pulsating minutes, with Moody playing 54 minutes before being replaced by Joe Worsley. Hipkiss came off the bench just before half-time and Chuter played the last 15 minutes in the front row.
England will play the winners of Sunday's second semi-final between South Africa and Argentina in the final next Saturday evening.
Whet your appetite for the World Cup Final by supporting Leicester Tigers in their Guinness Premiership match against Worcester Warriors at Welford Road on Saturday (kick-off 3pm). Tickets are on sale now, contact the ticket office on 08701 28 34 30.
