Yeltz have put together a stunning run over the competition, getting the better of National League side Barnet 2-1 last weekend to book their place in the semi-final.
And should they manage to win their two-legged tie, they will be heading to Wembley for the first time since winning the FA Vase for a second time in 1986.
Paul Smith's side have staged a number of non-league giant killings through their campaign so far - having knocked out three top flight sides in their run through the competition.
They'll host either Concord or Royston in the first leg of the semi-final on March 21 (3pm KO), before making the away trip one week later.
Smith said: "It's going to be extremely difficult - you don't get to the last four and have any bad sides in it.
"Level-wise, it's the best for us as we've avoided both the big Conference sides, but Concord and Royston will be looking at it thinking it's the best draw for them as well."
Reflecting on playing the first leg at home, Smith added: "It's going to be an unbelievable occasion at home and an unbelievable occasion away.
"Knowing the following we have, we'll take a brilliant following to whichever team we end up playing."
Rangers and Town will face off tomorrow after their initial clash was postponed.
On the other side of the draw, Notts County and Harrogate Town will go head to head for a place in the final.