After a goalless 90 minutes, the match was decided via a penalty shootout.
Brilliant Khuzwayo saved the first Baroka penalty from Olaleng Shaku before Willard Katsande also saw his spot-kick saved by Oscarine Masuluke.
Jacky Motshegwa then buried his kick before William Twala's poor penalty was easily kept out by Masuluke.
George Maluleka's attempt was also saved by Masuluke, and Baroka netted their next two penalties empatically, Phineas Ravhuhali and Richard Matloga scoring to seal the deal.
Baroka XI: Masuluke, Lietsisa, Shaku, Mahashe, Mothupa, Zikalala, Soso, Jwara, Junetsi, Matete, Mogale.
Chiefs XI: Khuzwayo, Moleko, Masilela, Gordinho, Mphahlele, Katsande, Twala, Maluleka, Macha, Parker, Lebese.