The Paisley club produced an impressive 3-2 win over the tournament favourites at Hampden on Sunday to book their place in the final against Hearts on March 17.
The result followed a number of shock outcomes south of the border, including Bradford's triumph over Aston Villa earlier
in the week to seal their place in the Capital One Cup final.
Blue Square Premier side Luton shocked Norwich in the FA Cup 24 hours earlier while MK Dons beat QPR before St Mirren joined a number of giant-killers on Sunday, with Oldham and Leeds beating Liverpool and Tottenham respectively.
Teale said: "Everybody was writing us off before the game but you need to have that inner belief.
"You just have to believe yourself that there is a chance you might get a result. Luckily enough, we managed to get one.
"We probably took heart from some of the results down south - Bradford, over the two games, and the cup run they have had right through to the final.
"Then you had Luton and MK Dons as well.
"It just shows you, some might say 2013 is unlucky for some, but maybe it's the year of the underdogs.
"We're just delighted to be in the final and to give the fans something to look forward to."
Saints debutant Esmael Goncalves opened the scoring early on, before Gary Hooper levelled for Celtic.
Charlie Mulgrew then failed to hand the Hoops the advantage from the penalty spot before conceding a spot-kick of his own, which was converted by Paul McGowan.
Steven Thompson extended St Mirren's lead further, before Mulgrew pulled a goal back with what proved to be the last kick of the ball.
Teale said: "Celtic are a fantastic side but we've played well and they've had an off day.
"That was our first victory in eight or nine games against them.
"They have got bigger fish to fry and hopefully they will go on and beat Juventus in the Champions League.
"We just went out and stuck to our game plan and I thought our win was deserved.
"With the goals that we scored and the chances we created, it wasn't as though we were just hanging in there."
Teale - who had spells with Wigan, Derby and Sheffield Wednesday - is now determined to help Saints secure their first trophy since 1987.
The 34-year-old said: "I played here at Hampden for Scotland against France and that was one of my proudest moments because it was for my country.
"But this is right up there.
"I've played in big games down south in the past. But, coming back up the road, at this age, you probably don't think you'll get there again.
"It would be great to win the cup - 25 years is a long time for any club to wait.
"We've got an opportunity now and we know it will be very difficult because Hearts are a good side.
"We're in the final, and we are delighted to be there, but we haven't achieved anything yet.
"We want to win finals, rather than just being there."
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