Nigel Jemson was the hero with his two goals, but it was a real team performance in front of 20,000 jubilant Millers fans.
Here's what they are up to two decades later.
Matt Clarke
Clarke, who led the Millers up the 39 steps at Wembley to lift the trophy, left to join Sheffield Wednesday not long after the final before injury restricted his career. He now owns a property development business.
Paul Blades
The defender, who joined the Millers for a fee in 1995, played right-back at Wembley, but left in 1997 and slipped into non-league. He now owns a health and safety practice, working mainly in construction.
Neil Richardson
Richardson was at Millmoor for the best part of a decade before leaving in 1999. He joined Mansfield, tried his hand at non-league management, but now works as a scout for Liverpool.
Ian Breckin
Rotherham-born Breckin was sold at the end of the 1996-97 season and had spells at Chesterfield, Wigan and Nottingham Forest. He worked as a postman but has recently entered coaching.
Paul Hurst
Hurst is Mr Rotherham United as no one has made more appearances in a red and white shirt than the left-back. He is currently the Grimsby manager, trying to win promotion to the Football League.
Trevor Berry
Berry went on to be a key player in the double promotions under Ronnie Moore before heading to Ireland. He played briefly but retired into the family business.
Darren Garner
Another Miller who was a major part of the club's success at the turn of the century, Garner was a roofer but is now an HGV driver.
Shaun Goodwin
A mercurial midfielder who came through the ranks, he was fancied by Everton in his early days but struggled with injury. He did manage Maltby Main and has also worked as a builder.
Andy Roscoe
Roscoe left Rotherham in 1999 after a five-year stint at Millmoor and had spells at Mansfield and Exeter. He currently works in childcare.
Nigel Jemson
The Millers were unable to keep hold of their two-goal Wembley hero and he had spells at Oxford and Shrewsbury after leaving Millmoor. Currently works at a casino and does matchday hospitality for Nottingham Forest.
Shaun Goater
Goater was another asset that left the Millers post-Wembley and he went on to have a fine career at Manchester City. He is involved in business and does matchday punditry on City.
John McGlashan
One of three unused substitutes, McGlashan headed north of the border after his 1997 Millers exit. He managed Arbroath but is now involved in junior football.
Andy Hayward
The attacker spent most of his football in non-league after leaving Rotherham and that is where he still is. Aged 46, Hayward is the assistant manager at North East Counties League Division One Hemsworth Miners Welfare.