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6 October 2017, 16:32
Daryl Gurney will play Simon Whitlock in the World Grand Prix final after both men came through Friday's semi-finals in Dublin.
Gurney continued his fabulous 2017 with a resounding performance against Henderson, who had already ended the hopes of world No 1 Michael van Gerwen and Raymond van Barneveld.
But the Highlander's march was halted as Gurney thrilled a packed Citywest crowd to reach his first major televised final having lost in the last four at both the World Matchplay and the UK Open.
Whitlock had earlier sealed his place in Saturday's showpiece, and with it ended Mensur Suljovic's hopes of back-to-back majors in a thrilling contest that had seen the Austrian storm back to force a deciding set.
However, the rejuvenated Aussie roared into a 3-1 lead on the back of a barrage of three-figure finishes only to see Champions League winner Suljovic find his form, winning five legs on the bounce to take the lead in the decider.
But just when it looked like his form had deserted him, Whitlock found his focus to seal a place in his first televised final since losing the European Championship in 2013.
After Gurney eased to the opening leg, both men struggled to find their doubles in the second leg until Gurney pinned double one with the 59th dart of the leg.
Despite averaging in the mid-70s, it was Gurney who claimed the opener before Henderson stormed back to level the contest.
The Scot, appearing in his first televised semi-final, had barely registered in the first set, failing to get a shot at a double but found his best darts of the week to claim the second set 3-0 with an average in excess off 100.
There was little to separate the pair and the fifth leg of the third set proved crucial and it was Gurney who prevailed.
With the Highlander waiting on 40 and Gurney on 34, the latter kept a clean head to take out single two followed by double 16 to take the set, the lead and move through the gears.
Playing with more authority, Gurney took out 56, 45 and 86 to ease to the fourth and move within one set of the final but there was time for drama before the man from Derry closed it out.
Henderson missed a dart at tops for a 117 that would have given him the set, and Gurney stepped in to hoover up 60 and stand one leg away before almost handing Henderson a reprieve.
Gurney missed his first match dart, only to see Henderson miss his own dart to take the set and give him another chance which he took in the most unconventional of ways, cleaning up 32 but via a pair of double eights.
In the opening match of the night, it was Whitlock who sparkled first in a high-quality opening set.
A brilliant 144 check-out gave him a 2-1 advantage only to see Suljovic force the deciding leg thanks to a clinical double-top after the Aussie's unfortunate bounce-out. However, when it mattered it was the Wizard who held up and with Suljovic lurking on a three-figure combination, he pinned his double to take the set.
Whitlock surged into a 2-0 lead but only after Suljovic had taken out a brilliant 154. With an average pushing 100 it was Whitlock punishing his opponent's misses, cleaning up 76 with the minimum of fuss to take control of the contest.
A fourth leg on the bounce for the Aussie gave him the early initiative in the third, but Suljovic reeled off three of his own to get on the board, although he needed four darts to do it.
Whitlock's brilliant finishing, reminiscent of his run to the 2010 World Championship final, saw him pin 109 to start the fourth set in fine style and despite Suljovic staying in touch, crucial missed darts to level at 2-2 from Suljovic were punished as Whitlock moved within one set of the match.
The Aussie again took the opening leg of the set before his doubles deserted him and a brilliant 137 check-out edged the Austrian ahead, and when he found his favoured double 14 he trailed by a single set.
With Whitlock's form falling away, he missed 14 darts at a double to start before finally getting underway, but by that time Suljovic had left himself double-top which he pinned to seal the set.
A brilliant three-dart 96 gave Suljovic the opener in the decider, leading for the first time since the opening leg of the match, but back came Whitlock to reel off the next two under high pressure before sealing his place in the final with a clinical 76.
World Grand Prix - Friday's Semi-Final Results
Simon Whitlock 4-3 Mensur Suljovic
Daryl Gurney 4-1 John Henderson
You can watch coverage of the World Grand Prix final on Saturday on Sky Sports Main Event and Sky Sports Mix from 8pm and from 8.30pm on Sky Sports Arena
Those on the move can keep up to date with the action from Dublin's Citywest via our live blog at www.skysports.com/darts and join in the conversation with regular updates @SkySportsDarts
(c) Sky News 2017: Daryl Gurney and Simon Whitlock through to World Grand Prix final