It was oh so cruel on Brisbane, who battled like warriors and there was only the crossbar between Beard and scoring her own spot kick.
Claire Polkinghorne, Tameka Butt, Emily Gielnik and Amy Chapman scored their penalties before Beard's hit the bar.
Jennifer Beattie, Laura Alleway, Kim Little and Steph Catley scored theirs for City, leaving Lisa De Vanna with the final emphatic kick to send City, who were undisputedly the best side in the competition, through to play Sydney FC next weekend at AAMI Park.
It was a titanic battle against Brisbane Roar, who came home fourth, but defender like titans for the entire 120 minutes to keep the match scoreless in normal and extra time.
Melbourne City were hampered by an injury to star midfielder Jess Fishlock, who had to be taken off in the first half, while Brisbane Roar were missing star Matilda Katrina Gorry through suspension.
De Vanna was surprisingly only a substitute, but she proved to be a high class replacement for Fishlock and her quality shone through as the game became stretched in the second half.
A winner wasn't forthcoming in normal time - but it looked like De Vanna had found one in extra time.
Somehow though, Roar goalkeeper Haley Kopmeyer scrambled to block De Vanna's shot after initially parrying a shot from distance.
Then, with Kim Little one-on-one only five minutes from the end of extra time, Kopmeyer spread herself to make a superb save.
Amy Jackson was next to try from distance and again Kopmeyer made the save - her tenth of the game.
By now the ground was filling up ahead of the A-League game between Melbourne City and Wellington Phoenix and the atmosphere was cracking as Brisbane's defenders threw themselves at everything.
They made it to the lottery of the shootout through sheer grit and determination, but unfortunately for Roar, that was the end of the fairytale.