Juve won a penalty shootout against Napoli after a late penalty challenge and went on to win the match 2-2 thanks to Pirlos stunning equaliser.
With the win, Juve move above Napoli into the second round of the Champions League for the first time in three seasons.
As always, the Serie A sides are set to play their opening two matches in the first leg on Saturday, with a fourth leg on Sunday.
Gio Chiasson has a big night in this game.
Giuseppe Rossi’s side had just one shot on target in the opening 40 minutes, with Giuseppina’s only shot coming from close range after Alessandro Matri and Marco Giampaolo had scored.
Matri put the visitors ahead in the 30th minute when he poked in a cross from outside the box.
The Napoli keeper then went close to making the equaliser when he saved from a Pirlosi cross, but the keeper was unable to prevent the goal.
Giampaoli got the second goal of the match in the 40th minute after a brilliant cross from the right.
The ball came out of the left-wing and Giampaolacci’s cross was headed into the net by Alessandro Petagna.
The Italian scored a consolation goal two minutes later when he curled a header towards goal from inside the box after Petagna’s header had been cleared off the line.
This is what happens when you are missing an opportunity to score in your last match.
Napoli got one back through Stefano Grosso, who had the chance to score on a penalty after being fouled by the Napoli goalkeeper.
However, the Italy international was denied by the referee after being brought down by Massimiliano Allegri’s shoulder.
Giorgio Chiellini had a good night, with one of the goals coming from the penalty spot.
He took a pass from Giampaolis and headed a low cross towards the far post.
Chiello had another chance to equalise in the 73rd minute when a low ball from the left found the back of the net, but Allegri turned the ball away.
Juventus have now won four of their last six Serie A matches.
This is the second consecutive Champions League group stage final for Juventus, as they were eliminated by Barcelona in the last 16 in 2013.
Juventus have now reached the last eight of the Europa League since the first-leg tie with Sevilla, where they beat AC Milan 4-2 in the quarter-finals.
Juve will play at Napoli on Saturday for the second leg of their Champions League tie on penalties.