ROXBURY, NJ – The Roxbury High School boys lacrosse team on Wednesday beat Princeton and made history in doing so: The Gaels, for the first time, made it to the finals in state tournament play.

Roxbury’s 6-5 defeat of Princeton in the semifinal match came with only a few seconds left when Matt Dancsecs broke a 5-5 tie for a dramatic victory in a tight game. Dancsecs’s goal was his third of the game, a contest in which Dave Biank, Paul Shadel and Eric D’Arminio also each scored goals.

The Gaels took an early lead, coming into the second period with two goals to Princeton’s one. But Princeton ruled the next frame, scoring twice and preventing Roxbury from landing any.

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The teams entered the third period with Princeton up 3-1. But the Gaels found the net twice in that quarter, while Princeton made just one goal, making the game tied for the final period.

Roxbury goaltender Wayne Safreed made six saves.

The state championship game will pit the 19-3 Gaels against No. 1 seed Summit on Saturday. Summit defeated Scotch Plains-Fanwood 13-4 on Wednesday.