Kenya Morans pipped Nigeria 61-59 in a FIBA AfroCan classification clash at the Pavilhao Multiusos de Luanda arena in Angola on Friday.
The Kenyans who were felled 55-46 by Morocco in their quarter-finals encounter on Thursday, will now take on Tunisia on Saturday for the fifth/sixth slot.
The North Africans managed a 61-56 victory against sad host Angola in another closely contest match-up played before the semi-finals.
Cliff Owour's charges took off to a good start, leading 20-13 in the first quarter. But the D'Tigers stormed to an 18-13 edge in the second quarter as Kenya hanged on 33-31 at halftime.
After resumption, Kenya were down 13-11 at the end of the third stanza before taking the decisive quarter 17-15 and the game on two foul shots by captain Victor Bosire with 0:14 left to play.
Debutant Bramwell Mwombe was Kenya's toast as he came up with 13 points to lead the tally. Nigeria's Daniel Daramola registered a game-high of 14 points.
Kenya, who won the silver medal in the 2019 championship in Bamako, Mali, suffered a 55-46 defeat at the hands of Morocco.
They are 2-2 in the tournament after beating Ivory Coast 62-52 before going down 66-63 to Gabon in their second group phase game. The 12 teams spectacle comes to an end in the Angolan capital city on Sunday.