The Warriors have reached the play-offs for the third successive season, in fact there have only been five seasons of play-offs and Warriors have been in them four times, but this will be their first home tie.
In that time an away side has never won a play-off game.
The Warriors have won their last eight RaboDirect PRO12 matches, their best ever sequence in the history of the tournament, and at home they have won their last seven contests at Scotstoun since Toulon beat them there in the European Cup on January 18.
Glasgow have been defeated in all five semi-final matches they have played in all competitions however, but Townsend believes his side can end that unbeaten run.
"Tomorrow night we will be doing all we can to make our first ever final," he said.
"To be going into the play-offs by setting a new club record of eight wins in succession is very pleasing and we have built up some great momentum over the past couple of months.
"Munster challenge you in a number of areas and will come here with the experience of being involved in these big occasions. They also beat us here in October so we're well aware of the task we face tomorrow night.
"For the first time in the play-offs we are playing at home and it looks like we'll have a capacity crowd at Scotstoun. Every player selected is determined to put in a performance to make our supporters proud."
Al Kellock will lead the Warriors while the changes from last week's win against Zebre see Peter Murchie replacing Stuart Hogg at full-back.
Sean Maitland and Tommy Seymour come in on either wing, in place of Sean Lamont and Niko Matawalu.
Mark Bennett replaces Peter Horne at outside centre and forms a partnership with Alex Dunbar, while Finn Russell comes in at fly-half for Duncan Weir and Chris Cusiter replaces Henry Pyrgos at scrum-half.
In the pack Ryan Grant continues at loose-head, while Dougie Hall comes in for Pat MacArthur at hooker and Jon Welsh replaces Moray Low at tight-head.
After being named the RaboDirect PRO12 Young Player of the Year at the weekend, Jonny Gray replaces Tim Swinson and lines up alongside Kellock in the second-row.
Rob Harley replaces James Eddie at blindside flanker, Josh Strauss comes in for Leone Nakarawa at No.8 and Chris Fusaro continues at openside.
Munster have also reached the play-offs in four of the last five years, but their only victory in those contests was when they beat Ospreys 18-11 at Thomond Park in 2011.
The Munstermen have won just two of their last five PRO12 fixtures but one of those was in Scotland, against Edinburgh at Meggetland.
Head coach Rob Penney has made four changes with Damien Varley retaining the captaincy.
Following the birth of his baby daughter BJ Botha returns at tight-head to join Varley and Dave Kilcoyne in the front row.
CJ Stander the only change comes in at blindside while Conor Murray returns to the starting line up to partner Ian Keatley in the half backs.
Winger Keith Earls makes his first start since Munster's Cup defeat to Toulon partnering Simon Zebo on the opposite wing while Felix Jones retains his place at full-back.
"Glasgow Warriors have probably been the best team in the league in the last couple of months and they will be a really difficult proposition at home," said Penney.
"So hopefully we will be as good as we can and give them a good contest.
"It's not going to be easy, we're going to have to be excited about the contest and be up emotionally and be tactically astute in all areas, both offensively and defensively.
"If we can get that emotional connection with the game and with the event, and be smart about what we do we'll be in the hunt but if we're not we'll have a tough day at the office."
At Scotstoun, 7.35pm. Live on BBC ALBA/S4C/TG4
Referee: Marius Mitrea (FIR, 29th competition game)
Assistant Referees: Giuseppe Vivarini, Stefano Penne (both FIR)
Citing Commissioner: Dennis Jones (WRU)
TMO: Carlo Damasco (FIR)
1st Floor Simmonscourt House
Ballsbridge, Dublin 4, Ireland