Goalkeeper Yassine Bounou emerged the hero for the Atlas Lions after a 4-2 a penalty shootout victory after Regragui's charges were held to a goalless draw after extra-time in their semi-final clash at the Prince Moulay Abdellah Stadium.
Bounou denied both Samuel Chukwueze and Bruno Onyemaechi to set up a mouthwatering final clash with Senega on Sunday.
Speaking after the game, Regragui explained how Morocco's tactical discipline allowed them to keep out a physical Super Eagles side.
He said on Flash Score: "They're an athletic team, they ran a lot. But they had two shots, one of which was on target. It just goes to show, we've been talking about the defense for three years now.
“We closed down the angles of positioning, the transitions. It was tough.”
“The most important thing is that Morocco is in the final. I need to focus on bringing it home together,” Regragui added.
Looking ahead to Sunday's final, the head coach said: "It's a superb final with the best African teams of the last three years. A fantastic team and a golden people, brothers of Morocco. It's a superb match-up.
"We have three days to recover. It's a fifth-to-fifth tie. It's the first time we've faced them in a final."
Senegal secured their place in the final with a 1-0 win over Egypt at the Grand Stade of Tangier on Wednesday, with Sadio Mane on target on 78 minutes.