The 36-year-old Sevilla captain held his side together and was only beaten once as Getafe completely dominated at the Coliseum.
"That's what we're there for, to make saves. I was only doing my job," Palop told reporters.
"In all honesty we suffered too much, I don't like that, I prefer to enjoy games more. Getafe played a great tie and they have to be congratulated, but we're the ones in the final."
Their opponents will be known on Thursday when Atletico Madrid travel to Racing Santander to defend a 4-0 semi-final first-leg advantage.
The final is in May with the date and venue yet to be confirmed.
Getafe, finalists in 2007 and 2008, made a spirited effort to overturn the deficit hitting the crossbar early on.
Sevilla were barely in the game and as tempers flared their coach Manolo Jimenez was sent to the stands for protesting a refereeing decision.
The home side's pressure finally paid dividends when Robert Soldado's diving header snuck inside the far post after 52 minutes.
But Palop was in outstanding form in the visiting goal and as Getafe tired the Andalusians started to threaten on the break.
Soldado, Francisco Casquero and Derek Boateng almost forced extra-time in the closing stages, but the 2007 winners Sevilla went through to the final.
