Published Saturday, 17 May 2014
Mark Anscombe's side had been ahead for much of Saturday's game thanks to three penalties from Paddy Jackson, but Leinster mounted a late comeback to win it 13-9.
The only try of the game was scored by Ian Madigan and it proved decisive as the defending champions went on to close out the victory.
Leinster will now face Glasgow Warriors after their 16-15 win against Munster on Friday saw them become the first Scottish side to reach the Pro12 final.
Ulster held a narrow lead of six points at the end of a tight first half at the RDS Arena in Dublin.
Jackson opened the scoring seven minutes into the match after slotting home his first penalty from under the posts.
Gordon Darcy received a yellow card for a late tackle on Tommy Bowe as Leinster piled on the pressure but Ulster held firm, before Jackson struck again to put his side 6-0 up at half time.
Jackson kicked his third penalty on 52 minutes to extend the visitors' advantage before leaving the game to be replaced by James McKinney.
The Leinster comeback then began with two penalties from Jimmy Gopperth bringing the gap back down to three points.
Ulster hit back immediately with a try chance falling for Ruan Pienaar but Leinster defended well before taking the lead for the first time when Ian Madigan broke through.
Gopperth converted to make it 13-9.
The momentum was now firmly with Leinster and Ulster were unable to fight back as their rivals held on through a nervy last few minutes to clinch the victory.
They will face Glasgow at the RDS on 31 May for the chance to win back-to-back titles.
© UTV News