Pakistan had seven shots on the goal but they were not able find the net while Malaysia could only direct their shots twice in the direction of goal.
The game went on to be decided by penalty strokes where goalkeeper Imran Butt made a save to bag a win for Pakistan.
The final will be played on Thursday, October 2 at 1500 PST.
Previously, Pakistan beat Oman 8-0 in their final Pool B match of the at the Seonhak Hockey Stadium.
Captain Muhammad Imran, Muhammad Irfan and Abdul Haseem Khan scored two goals each, while Muhammad Umar Bhutta and Muhammad Dilber scored one goal each.
On September 25, Pakistan qualified for the hockey semi-finals after defeating arch-rivals India 2-1 in their third Pool B match at the Munhak Hockey Stadium.
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