The defender set up Ryan Naderi’s winner with seven minutes left of the semi-final clash with Aberdeen at Barclays Hampden.
The boyhood Gers fan loved every minute of his first outing at the national stadium for Derek McInnes’ men, and he is relishing the prospect of facing Hearts or Hibs in the showpiece final on December 13.
Penrice knows it wasn’t the perfect performance, but securing a final spot was all that mattered.
Speaking exclusively to RangersTV, he said: “I am delighted; it was a big occasion for some of the boys.
“They have never played at Hampden; we could have played a bit better and taken our chances, but it is a one-off cup game, and we got the job done, and that’s the main thing.
“It was trying to break them down; they were in a lower block than other teams, and they made it hard for us, trying to get us on the counter.
“They got in a few times, and we need to work on that. At the same time we were dangerous and we went close.
“Ryan then got his striker goal. I am delighted for him, and I keep saying to him to keep that form going, and he has been brilliant.
“Was it a cross or shot from me? We will go with a cross.
“The atmosphere the fans bring is special, and it is good for the boys who haven’t watched us at Hampden; it was good to see what it can be.
“We are looking forward to coming back, and hopefully we can recreate this.”
Penrice started in the middle of the park alongside captain for the day Nico Raskin.
It is a role the 27-year-old has played in the past, under Light Blues assistant Alan Archibald during their time together at Partick Thistle.
Penrice insists he doesn’t care where he is asked to play, as long as he gets to be on the park, and he was delighted to see Tuur Rommens earn a first start since August.
He added: “It is a new role for me here. I have played the majority of my career at left-back.
“I played there before under Alan Archibald at Partick and then when I was at Livingston.
“I am not bothered where I play as long as I keep my performances to a level that is good; if I can help the team in any position, I will.
“It was good to see Tuur back. We have a big squad, lots of talent and having everyone back, it can only push the boys and make us better.
“We will have a few more back in December, and it will make us stronger. Boys want to keep their jersey, but you need that competition at Rangers.
“Everyone should be pushing in the one direction, but we have so much talent, and it can only help us.”
