Now he will also have a Doubles medal after he and Robson pulled off victory for Great Britain in a match tie-break, going through 6-1 6-7 (9/7) 10-7.
That meant they were guaranteed a shot at a medal tomorrow, but they wanted at least silver and came out firing on Court One.
Murray had to save two break points in the fifth game but that was a minor blip as the British pair promptly broke the Kas serve for the second time in the match and Robson served out the set.
The teenager was more than holding her own in high-quality company and played a big part as the pair broke the Kas serve once more to lead 2-1 in the second set.
Robson conceded her serve for the second time straight away but a third consecutive break followed and this time Murray held to put the home duo two games away from the final.
Robson was just starting to wobble a little, and an untimely double fault allowed the Germans to break back for 4-4, but the teenager saved a set point in her next service game to take the set into a tie-break.
It swung one way and then the other, with Kas and Lisicki turning a 3-0 deficit into a 6-3 lead only to see three more set points go begging.
Robson and Murray saved a fourth, too, but a fifth followed when the Scot missed a volley, slamming his racquet to the turf in frustration, and this time the Germans capitalised.
That meant yet another match tie-break for the British pair, their third in successive matches, and they made a decent start, but Kas and Lisicki were matching them point for point.
The crucial point came with Lisicki serving at 7-6 behind, a volley into the net giving the British duo a mini-break, and Robson won both her service points to earn themn victory.
In the final, which will take place after Murray's Singles final, the British pair will face top seeds Max Mirnyi and Victoria Azarenka of Belarus after they beat Americans Mike Bryan and Lisa Raymond 3-6 6-4 10-7.