The Swans lead 2-0 from the first-leg of their Capital One Cup semi-final at Chelsea, and are well placed to book a place in the Wembley final against Bradford.
Swansea have already experienced a Wembley victory, when they clinched promotion to the Premier League in 2011 with victory over Reading, but they have yet to reach a major final.
And Rangel admits that prospect seemed highly unlikely when he arrived at the Liberty Stadium in 2007 with the club in League One - a vast improvement from their position 10 years ago when Swansea were bottom of the entire Football League.
Rangel said: "If you had told me five-and-a-half years ago in League One that I would be top 10 in the Premier League and fighting Chelsea to get to the final at Wembley for the Capital One Cup I would have said it was impossible.
"I think throughout all these years we have built great teams and you can see now that we are enjoying it on the pitch, and this will be one of those occasions when we can put in a good shift and hopefully get through.
"We can become legends, we can make history. It is one of those games we have been waiting for for a long time."