Harlequins boss Paul Gustard wants his players to make their own European Challenge Cup history after booking a fifth semi-final appearance.
“We were on the back of two (Premiership) defeats, and we want to get that winning feeling back,” Quins head of rugby Gustard said.
“We want to progress in this competition, and for me, history is made with this group.
“Although the club has had a great heritage in this competition, it’s important that this group of players experience winning silverware for the club.”
Replacement fly-half Demetri Catrakilis kicked a penalty three minutes from time to edge Quins home.
Gustard added: “Worcester were tough and tenacious. We defended pretty well, and we ground it out.
“When the going got tough, we got going, and I thought we deserved our victory.”
But a first Challenge Cup semi-final appearance for 10 years agonisingly eluded them after a tense second half when the lead changed hands four times.
Worcester head coach Rory Duncan said: “We are obviously disappointed with the result.
“We had opportunities in the game, and unfortunately we didn’t just finish them off. The guys were in the fight until the end, but it didn’t go our way.
“Quins did extremely well. The opportunities they got, they capitalised.
“We can take away a couple of lessons in terms of closing out opportunities, but there was certainly no lack of effort.”
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